Optical device

ABSTRACT

Stereoscopic device including an image directing assembly, an image differentiator and an image detector, the image directing assembly having a first light inlet for receiving a first image and a second light inlet for receiving a second image, the first light inlet being spaced apart from the second light inlet, the image differentiator differentiating between the first image and the second image, wherein the image directing assembly directs the first image to the image detector via a common path, and wherein the image directing assembly directs the second image to the image detector via the common path.

[0001] This application is a continuation-in-part of application Ser.Nos. 09/785,791, filed on Feb. 16, 2001 and 09/785,512, filed on Feb.16, 2001, which are continuation-in-parts of application Ser. No.09/699,624, filed on Oct. 30, 2001, which is a continuation-in-part ofapplication Ser. No. 09/257,850, filed on Feb. 25, 1999.

FIELD OF THE DISCLOSED TECHNIQUE

[0002] The disclosed technique relates to endoscopes, microscopes andboroscopes, in general and to stereoscopic image pick up devices withcolor imaging capability, in particular.

BACKGROUND OF THE DISCLOSED TECHNIQUE

[0003] Stereoscopic image detection devices are known in the art. Suchdevices are required to obtain and provide a combination of small crosssection and high image quality. It will be appreciated by those skilledin the art that high image quality, in general, is characterized bystereoscopic vision accuracy, color capabilities, high resolution andillumination requirements.

[0004] It is noted that conventional methods, which provide stereoscopicimages, require a wider optical path than a monocular one. Such awidened optical path enlarges the cross-section required for thedetection device considerably. Hence, the requirement for a small crosssection is not maintained.

[0005] U.S. Pat. No. 5,527,263 to Zobel, et al., is directed to a dualoptical path stereo endoscope with simple optical adjustment. U.S. Pat.No. 5,776,049 to Takahashi, is directed to a “Stereo Endoscope andStereo Endoscope Imaging Apparatus” and provides a device which utilizesa combination of two optical paths with two charge coupled devices(CCD's), capable of variable zoom.

[0006] Auto-stereoscopic devices, which utilize one optical system toprovide a stereo effect, are also known in the art. Such a device isprovided in U.S. Pat. No. 5,603,687 to Hori et al., which is directed toa device with two parallel optical axes and two CCD units. Hori selectedan asymmetrical approach, wherein one optical channel has a largeaperture for light and details, and the other optical channel provides aparallax image for stereoscopic imagery to the proximal CCD.

[0007] U.S. Pat. No. 5,613,936 to Czarnek et al., is directed to astereoscopic endoscope device which utilizes light polarization and timemultiplexing, in order to transmit each different polarized imagecorresponding to left and right images multiplexed in time, through oneoptical channel that transfers images from the lateral side of theendoscope shaft. This endoscope has to be inserted deeper into the humancavity to receive a stereo image. It must also be used with a headmounted display device called “switched shutter glasses” that causes eyeirritation. It is noted that according to Czarnek each image is receivedin 25% of the original quality. As much as 50% of the light receivedfrom the object, is lost due to polarization considerations and as muchas 50% of the remaining information is lost due to channel switching.

[0008] U.S. Pat. No. 5,588,948, to Takahashi, et al., is directed to astereoscopic endoscope. The stereo effect is produced by having adividing pupil shutter, which splits the optical path onto the left andright sides, and the up and down sides. These sides are alternatelyprojected on a proximal image pick up device, using time multiplexing.According to another aspect of this reference, a distal CCD is included,which is divided to left and right sides with a shading memberseparating them, for achieving space multiplexing.

[0009] U.S. Pat. No. 5,743,847 to Nakamura et al., is directed to a“Stereoscopic Endoscope Having Image Transmitting Optical-System andPupil Dividing Unit that are Axially Movable With Respect to EachOther”, which uses a plural pupil dividing means and one opticalchannel. U.S. Pat. No. 5,751,341 to Chaleki et al., is directed to a“Stereoscopic Endoscope System”, which is basically a two channelendoscope, with one or two proximal image sensors. A rigid sheath withan angled distal tip could be attached to its edge and be rotated, forfull view.

[0010] U.S. Pat. No. 5,800,341 to Mckenna et al., is directed to an“Electronically Steerable Endoscope”, which provides different fields ofview, without having to move the endoscope, using a plurality of CCDcells and processing means. U.S. Pat. No. 5,825,534 to Strahle, isdirected to a “Stereo Endoscope having a Folded Sight Line” including astereo-endoscope optical channel, having a sight line folded relative totube axis.

[0011] U.S. Pat. No. 5,828,487 to Greening et al., is directed to a“Stereoscopic Viewing System Using a Two Dimensional Lens System” whichin general, provides an alternative R-L switching system. This systemuses a laterally moving opaque leaf, between the endoscope and thecamera, thus using one imaging system. U.S. Pat. No. 5,594,497 to Ahern,describes a distal color CCD, for monocular view in an elongated tube.

[0012] The above descriptions provide examples of auto-stereoscopicdisclosed techniques, using different switching techniques (Timedivision multiplexing) and polarization of channels or pupil divisions(spatial multiplexing), all in an elongated shaft. When color image pickup devices are used within these systems, the system suffers fromreduced resolution, loss of time related information or a widened crosssection.

[0013] The issue of color imagery or the issue of a shaft-less endoscopeis not embedded into any solution. To offer higher flexibility and toreduce mechanical and optical constraints it is desired to advance theimage pick-up device to the frontal part of the endoscope. This allowsmuch higher articulation and lends itself easily to a flexibleendoscope. Having a frontal pick up device compromises the resolution ofthe color device due to size constraints (at this time).

[0014] U.S. Pat. No. 5,076,687 to Adelson, is directed to an “OpticalRanging Apparatus” which is, in general a depth measuring deviceutilizing a lenticular lens and a cluster of pixels.

[0015] U.S. Pat. No. 5,760,827 to Faris, is directed to “Pixel DataProcessing System and Method for Producing Spectrally-Multiplexed Imagesof Three-Dimensional Imagery for Use in Stereoscopic Viewing Thereof”and demonstrates the use of multiplexing in color and as such, offers asolution for having a color stereo imagery with one sensor.Nevertheless, such a system requires several sequential passes to beacquired from the object, for creating a stereo color image.

[0016] U.S. Pat. No. 5,812,187 to Watanabe, is directed to an ElectronicEndoscope Apparatus. This device provides a multi-color image using amonochromatic detector and a mechanical multi-wavelength-illuminatingdevice. The monochromatic detector detects an image, each time themulti-wavelength-illuminating device produces light at a differentwavelength.

[0017] U.S. Pat. No. 6,306,082 B1 issued to Takahashi, et al., andentitled “Stereoendoscope wherein images having passed through pluralincident pupils are transmitted by common relay optical systems”, isdirected to an apparatus, namely, an endoscope wherein images, havingpassed through plural incident pupils, are transmitted by a common relaysystem, and reconstructed at an observation point to provide astreoscopic image. According to the reference, illuminating light istransmitted by a light guide. Light reflected from the illuminatedobjects passes through non-superimposed pupils and transmitted to therear side by a common relay system having a single optical axis. Thetransmitted images are formed on separate image taking surfaces to allowfor a streoscopic image to be formed.

[0018] U.S. Pat. No. 5,121,452 issued to Stowe, et al., and entitled“Fiber Optic Power Splitter”, is directed to a method for manufacturingfiber optic power splitters. The fiber optic power splitter is aunitary, single-mode fiber, fused structure which is composed of four,up to seventeen or more fibers, which provide uniform splitting of inputoptical power among the fibers. The fiber optic power splitter includesa central fiber and identical surrounding fibers, which are sized priorto fusion, such that mutual contact is achieved. In this manner, each ofthe surrounding fibers touches the central fiber and the neighboringfibers. In this construction, the surrounding fibers are of the samediameter and the central fiber has a different diameter. Optical powerinput in the central fiber distributes among the surrounding fibers. Theoptical power output in the central fiber and the surrounding fibers ismonitored during the fusion process, and the fusion process is stoppedwhen the desired fraction of the optical power appears in a surroundingfiber.

[0019] In Handbook of Optics, Volume 2, McGraw-Hill, Inc., 1995, p.15-24, Norman Goldberg discusses the concept of stereo cameras. Thestructure of a stereo camera is based on the parallax difference betweenthe views of the right and the left eyes. The two lenses in the classicstereo camera are spaced about 65 mm apart, in order to form two imagesof the subject. Another type of stereo camera uses a reflection systemof four mirrors or an equivalent prism system, placed in front of thelens of a normal camera, thereby forming two images of the subject (FIG.15 on p. 15-25 of the Handbook). According to another method, thesubject is required to remain stationary while two separate exposuresare made and the camera is shifted 65 mm between the two exposures. Thismethod is employed in aerial stereo photography in which two views aremade of the ground, the views being made so many seconds apart.

[0020] According to another method, the right and left views of thesubject are restricted to the respective eye of the viewer, where theright and the left views are polarized at 90 degrees to one another. Theviewer wears glasses with polarizing filters oriented such that each eyesees the view intended for it. In a parallax stereogram, the right andleft images are sliced into narrow, interlaced right and left strips.The viewer perceives a three-dimensional view of the subject, whileviewing the image through a series of vertical lenticular prisms with amatching pitch.

[0021] U.S. Pat. No. 5,233,416 issued to Inoue and entitled “ElectronicEndoscope System”, is directed to a system which enables the use of anendoscope having either a normal sensitivity or a high sensitivitysolid-state image sensor element. The system includes a rotary colorwheel, a light source, a condenser lens, the solid-state image sensorelement, such as charge coupled device (CCD), an input switch, a firstvideo processor, a second video processor, an output switch, an analogto digital (A/D) converter, a plurality of storage portions, threedigital to analog (D/A) converters, an encoder, a first control means, asecond control means, a decoder, a master clock and a CCD drive.

[0022] The CCD drive is coupled with the CCD, the first control means,and to the master clock. The first control means is coupled with theinput switch, the first video processor, the second video processor, theoutput switch, the A/D converter, the storage portions, the decoder andto the master clock. The CCD is coupled with the decoder and to theinput switch. The input switch is coupled with the first video processorand to the second video processor. The output switch is coupled with thefirst video processor, the second video processor and to the A/Dconverter. The storage portions are coupled with the A/D converter, tothe three D/A converters and to the second control means. The secondcontrol means is coupled with the decoder, the master clock, the D/Aconverters and to the encoder. The three D/A converters are coupled withthe encoder.

[0023] The condenser lens is located between the light source and therotary color wheel. The rotary color wheel is located between thecondenser lens and a light guide of the endoscope. The rotary colorwheel is provided with three filter zones (red, green and blue). Thethree filter zones are separated by three color-shifting light-blockingzones. Each filter zone is bisected into uniform halves, by anintermediate light-blocking zone.

[0024] The input switch switches the system to the first video processorwhen the normal sensitivity CCD is employed and to the second videoprocessor, when the high sensitivity CCD is employed. The first controlmeans controls the read-out of the signal charges from the CCD and thesecond control means controls the display of the images. Each of thefirst control means and the second control means can operate either in anormal sensitivity mode or a high sensitivity mode. The CCD driveproduces pulse signals for the CCD, according to the clock signals ofthe master clock.

[0025] The rotary color wheel provides an image to the CCD in red, greenand blue, in sequence. When a normal sensitivity CCD is employed, thesystem switches to the first video processor, and the first controlmeans, the second control means and the CCD drive switch to the normalsensitivity mode. In this mode, the CCD drive enables the read-out ofsignal charges from the CCD, between every two color-shiftinglight-blocking zones. The first controller shifts the resulting image tothe storage portions, during each color-shifting light-blocking zone.The second controller constructs a color image for each pulse signal, bycombining the three images in red, green and blue which are read-outbetween every two color-shifting light-blocking zones.

[0026] When a high sensitivity CCD is employed, the system switches tothe second video processor, and the first control means, the secondcontrol means and the CCD drive switch to the high sensitivity mode. Inthis mode, the CCD drive enables the read-out of signal charges from theCCD, between every two color-shifting light-blocking zones, as well asbetween every two intermediate light-blocking zones. The firstcontroller shifts the resulting image to the storage portions, duringeach color-shifting light-blocking zone, as well as during eachintermediate light-blocking zone. The second controller constructs acolor image for each pulse signal, by combining the three images in red,green and blue which are read-out between every two color-shiftinglight-blocking zones, as well as between every two intermediatelight-blocking zones.

SUMMARY OF THE DISCLOSED TECHNIQUE

[0027] It is an object of the disclosed technique to provide a novelsystem for stereoscopic imaging, by employing an image receivingassembly whose inlets are spaced apart, and a novel method for operatingthe same, which overcomes the disadvantages of the prior art.

[0028] In accordance with one aspect of the disclosed technique, thereis thus provided a stereoscopic device which includes an image directingassembly, an image differentiator and an image detector. The imagedirecting assembly includes a first light inlet for receiving a firstimage and a second light inlet for receiving a second image, wherein thefirst light inlet and the second light inlet are spaced apart. The imagedifferentiator differentiates between the first image and the secondimage and the image directing assembly directs the first image and thesecond image to the image detector via a common path.

[0029] A controller coupled with the image detector and to an imageprocessor, enables the image detector to detect the first image and thesecond image according to the state of the image differentiator. Theimage processor produces a stereoscopic image, by processing thedetected first image and second image.

[0030] In accordance with another aspect of the disclosed technique,there is thus provided a method for producing a stereoscopic image. Themethod includes the procedures of receiving images of different sides ofan object through two spaced apart apertures, directing the images to acommon path and differentiating between the images. The method furtherincludes the procedures of detecting the images, processing the detectedimages and displaying a stereoscopic image according to the processedimages.

[0031] In accordance with a further aspect of the disclosed technique,there is thus provided a stereoscopic device including a first lightfilter, a second light filter, a sequential wavelength differentiator,an image detector and an optical assembly located in front of the imagedetector. The first light filter admits light at a plurality of firstranges of filter wavelengths and the second light filter admits light ata plurality of second ranges of filter wavelengths. The sequentialwavelength differentiator is associated with a first set ofdifferentiating wavelengths and with a second set of differentiatingwavelengths.

[0032] The image detector receives images from the first light filterand from the second light filter. The first set of differentiatingwavelengths is included in at least one of the first ranges of filterwavelengths and excluded from the second ranges of filter wavelengths.The second set of differentiating wavelengths is included in at leastone of the second ranges of filter wavelengths and excluded from thefirst ranges of filter wavelengths. A controller is coupled with theimage detector, to the image processor and to the sequential wavelengthdifferentiator. The controller enables the image detector to detect thefirst image and the second image according to the state of thesequential wavelength differentiator. The image processor produces astereoscopic image, by processing the detected first image and secondimage.

[0033] The sequential wavelength differentiator can be a sequentialilluminator, sequentially emitting light at at least a portion of thefirst set of differentiating wavelengths and at at least a portion ofthe second set of differentiating wavelengths. Alternatively, thesequential wavelength differentiator can be a filtering differentiator,differentiating between at least a portion of the first ranges of filterwavelengths and at least a portion of the second ranges of filterwavelengths.

[0034] Further alternatively, the filtering differentiator can be amulti-wavelength rotating disk located in front of the image detector,wherein the multi-wavelength rotating disk includes a plurality offiltering sectors. Each of the filtering sectors admits light atdifferent wavelengths selected from one of the first set ofdifferentiating wavelengths and the second set of differentiatingwavelengths. The multi-wavelength rotating disk sequentially filterslight at the common path and the controller enables the image detectorto detect images, according to the angular position of themulti-wavelength rotating disk.

[0035] In accordance with another aspect of the disclosed technique,there is thus provided a method for detecting a first image and a secondimage. The method includes the procedure of determining a plurality offirst ranges of filter wavelengths for a first pupil and a plurality ofsecond ranges of filter wavelengths for a second pupil. The methodfurther includes the procedure of sequentially differentiating between afirst set of differentiating wavelengths and a second set ofdifferentiating wavelengths. The method includes still further, theprocedure of detecting the first image when the first set ofdifferentiating wavelengths is present, and detecting the second imagewhen the second set of differentiating wavelengths is present. The firstset of differentiating wavelengths is included in the first ranges offilter wavelengths and excluded from the second ranges of filterwavelengths. The second set of differentiating wavelengths is includedin the second ranges of filter wavelengths and excluded from the firstranges of filter wavelengths.

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The disclosed technique will be understood and appreciated morefully from the following detailed description taken in conjunction withthe drawings in which:

[0037]FIG. 1 is a schematic illustration of a three-dimensional objectand a stereoscopic imaging apparatus, constructed and operative inaccordance with an embodiment of the disclosed technique;

[0038]FIG. 2 is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0039]FIG. 3A is a schematic illustration of a super-pixel, constructedand operative in accordance with a further embodiment of the disclosedtechnique;

[0040]FIG. 3B is a schematic illustration of the super-pixel of FIG. 3Aand a lenticular element, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0041]FIG. 3C is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance with afurther embodiment of the disclosed technique;

[0042]FIG. 4 is a schematic illustration of a super-pixel, constructedand operative in accordance with another embodiment of the disclosedtechnique;

[0043]FIG. 5A is a schematic illustration of a color super-pixel,constructed and operative in accordance with a further embodiment of thedisclosed technique;

[0044]FIG. 5B is a schematic illustration of the color super-pixel ofFIG. 5A, with a single lenticular element, constructed and operative inaccordance with another embodiment of the disclosed technique;

[0045]FIG. 5C is a schematic illustration of the color super-pixel ofFIG. 5A, combined with three lenticular elements, constructed andoperative in accordance with a further embodiment of the disclosedtechnique;

[0046]FIG. 6 is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0047]FIG. 7A is a schematic illustration of a method for operating theapparatus of FIG. 2, operative in accordance with a further embodimentof the disclosed technique;

[0048]FIG. 7B is an illustration in detail of a step of the method ofFIG. 7A;

[0049]FIG. 7C is a schematic illustration of a sensor array and alenticular lens layer, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0050]FIG. 8 is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0051]FIG. 9A is a view in perspective of a section of light sensors,and a lenticular element, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0052]FIG. 9B is a view from the bottom of the lenticular element andthe section of light sensors of FIG. 9A;

[0053]FIG. 9C is a view from the side of the lenticular element and thesection of light sensors of FIG. 9A;

[0054]FIG. 10 is a view in perspective of a section of light sensors,and a lenticular element, constructed and operative in accordance with afurther embodiment of the disclosed technique;

[0055]FIG. 11 is a view in perspective of a sensor array and alenticular lens layer, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0056]FIG. 12A is a schematic illustration of a detection apparatus,constructed and operative in accordance with a further embodiment of thedisclosed technique;

[0057]FIG. 12B is another schematic illustration of the detectionapparatus of FIG. 12A;

[0058]FIG. 13 is a schematic illustration of a detection apparatus,constructed and operative in accordance with another embodiment of thedisclosed technique;

[0059]FIG. 14A is a partially schematic partially perspectiveillustration of a combined illumination and detection device,constructed and operative in accordance with a further embodiment of thedisclosed technique;

[0060]FIG. 14B is a partially schematic partially perspectiveillustration of the combined illumination and detection device of FIG.14A, a controller and output frames, constructed and operative inaccordance with another embodiment of the disclosed technique;

[0061]FIG. 15 is an illustration in perspective of a color illuminationunit, constructed and operative in accordance with a further embodimentof the disclosed technique;

[0062]FIG. 16 is a view in perspective of a sensor array and a partiallenticular lens layer, constructed and operative in accordance withanother embodiment of the disclosed technique;

[0063]FIG. 17 is a view in perspective of a sensor array and a partiallenticular lens layer, constructed and operative in accordance with afurther embodiment of the disclosed technique;

[0064]FIG. 18 is a schematic illustration of a sensor array and apartial lenticular lens layer, constructed and operative in accordancewith another embodiment of the disclosed technique;

[0065]FIG. 19 is a schematic illustration of a sensor array and apartial lenticular lens layer, constructed and operative in accordancewith a further embodiment of the disclosed technique;

[0066]FIG. 20A is a schematic illustration of a system, for producing acolor stereoscopic image, in a right side detection mode, constructedand operative in accordance with another embodiment of the disclosedtechnique;

[0067]FIG. 20B is an illustration of the system of FIG. 20A, in aleft-side detection mode;

[0068]FIG. 21A is a schematic illustration of a timing sequence, inwhich the controller of the system of FIG. 20A synchronizes theoperation of illumination unit, apertures and image detector of thatsame system;

[0069]FIG. 21B is a schematic illustration of another timing sequence,in which the controller of FIG. 20A synchronizes the operation of theillumination unit, right and left apertures and the image detector;

[0070]FIG. 22 is a schematic illustration of a method for operating thesystem of FIGS. 20A and 20B, operative in accordance with a furtherembodiment of the disclosed technique;

[0071]FIG. 23 is a schematic illustration of a timing scheme, foroperating the system of FIGS. 20A and 20B, in accordance with anotherembodiment of the disclosed technique;

[0072]FIG. 24 is a schematic illustration of a timing scheme, foroperating the system of FIGS. 20A and 20B, in accordance with a furtherembodiment of the disclosed technique;

[0073]FIG. 25A is a schematic illustration of an object and a sensorassembly, when the sensor assembly is located at an initial positionwith respect to the object;

[0074]FIG. 25B is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a newposition;

[0075]FIG. 25C is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to anotherposition;

[0076]FIG. 25D is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position;

[0077]FIG. 25E is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to another newposition;

[0078]FIG. 25F is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position;

[0079]FIG. 26A is a schematic illustration of a detected image, asdetected by sensor assembly of FIG. 25A, and a respective displayedimage, in accordance with a further embodiment of the disclosedtechnique;

[0080]FIG. 26B is a schematic illustration of a detected image, asdetected by sensor assembly of FIG. 25B, and a respective displayedimage;

[0081]FIG. 26C is a schematic illustration of a detected image, asdetected by the sensor assembly of FIG. 25C, and a respective displayedimage;

[0082]FIG. 27A is a schematic illustration of a sub-matrix, inaccordance with another embodiment of the disclosed technique, when thesensor assembly is at a location illustrated in FIG. 25A;

[0083]FIG. 27B is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25B;

[0084]FIG. 27C is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25C;

[0085]FIG. 27D is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25D;

[0086]FIG. 27E is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25E;

[0087]FIG. 27F is a schematic illustration of a sub-matrix, when thesensor assembly is at a location illustrated in FIG. 25F;

[0088]FIG. 28A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0089]FIG. 28B is a schematic illustration of the apparatus of FIG. 28A,in another mode of imaging;

[0090]FIG. 29A is a schematic illustration of a stereoscopic imagingapparatus in a right side detection mode, constructed and operative inaccordance with another embodiment of the disclosed technique;

[0091]FIG. 29B is a schematic illustration of the apparatus of FIG. 29A,in a left side detection mode;

[0092]FIG. 30A is a schematic illustration of a stereoscopic imagingapparatus in a right side filter mode, constructed and operative inaccordance with a further embodiment of the disclosed technique;

[0093]FIG. 30B is a schematic illustration of the apparatus of FIG. 30A,in a left side filter mode;

[0094]FIG. 31A is a schematic illustration of a stereoscopic imagingapparatus in a right side view image mode, constructed and operative inaccordance with another embodiment of the disclosed technique;

[0095]FIG. 31B is a schematic illustration of the apparatus of FIG. 30A,in a left side view image mode;

[0096]FIG. 32 is a schematic illustration of a method for operating astereoscopic imaging apparatus, operative in accordance with anotherembodiment of the disclosed technique;

[0097]FIG. 33A is a schematic illustration of an endoscope with aperiscope assembly thereof in a retracted mode, constructed andoperative in accordance with a further embodiment of the disclosedtechnique;

[0098]FIG. 33B is a schematic illustration of the periscope of theendoscope of FIG. 33A, in an extended mode;

[0099]FIG. 34A is a schematic illustration of an endoscope with aperiscope assembly thereof in a retracted mode, constructed andoperative in accordance with another embodiment of the disclosedtechnique;

[0100]FIG. 34B is a schematic illustration of the periscope assembly ofthe endoscope of FIG. 34A, in an extended mode;

[0101]FIG. 35A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0102]FIG. 35B is a schematic illustration of the apparatus of FIG. 35A,in which the periscope assembly thereof is in a different mode than thatof FIG. 35A;

[0103]FIG. 36 is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0104]FIG. 37A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0105]FIG. 37B is a schematic illustration of a split fiber of the lightdirecting assembly of the apparatus of FIG. 37A;

[0106]FIG. 38A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0107]FIG. 38B is a schematic illustration of the apparatus of FIG. 38A,in another mode of operation;

[0108]FIG. 39A is a schematic illustration of a partially-transparentrotating disk, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0109]FIG. 39B is a schematic illustration of a partially-transparentrotating disk, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0110]FIG. 40A is a schematic illustration of a multi-wavelengthrotating disk, constructed and operative in accordance with a furtherembodiment of the disclosed technique;

[0111]FIG. 40B is a schematic illustration of a multi-wavelengthrotating disk, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0112]FIG. 41A is a schematic illustration of a top view of astereoscopic image scanning apparatus, constructed and operative inaccordance with a further embodiment of the disclosed technique;

[0113]FIG. 41B is a schematic illustration of side view (referenced A inFIG. 41A) of the apparatus of FIG. 41A, in one mode of scanning;

[0114]FIG. 41C is a schematic illustration of the apparatus of FIG. 41B,in another mode of scanning;

[0115]FIG. 42A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0116]FIG. 42B is a schematic illustration of the stereoscopic imagingapparatus of FIG. 42A, in another mode of operation;

[0117]FIG. 43 is a schematic illustration of a method for operating astereoscopic imaging apparatus, operative in accordance with a furtherembodiment of the disclosed technique;

[0118]FIG. 44A is a schematic illustration of a rotating disk,constructed and operative in accordance with another embodiment of thedisclosed technique;

[0119]FIG. 44B is a schematic illustration of a rotating disk,constructed and operative in accordance with a further embodiment of thedisclosed technique;

[0120]FIG. 45A is a schematic illustration of a stereoscopic imagingapparatus, constructed and operative in accordance with anotherembodiment of the disclosed technique;

[0121]FIG. 45B is a schematic illustration of a top view of theapparatus of FIG. 45A;

[0122]FIG. 46A is a schematic illustration of a physical object and astereoscopic imaging apparatus, constructed and operative in accordancewith a further embodiment of the disclosed technique;

[0123]FIG. 46B is a schematic illustration of the apparatus of FIG. 46A,with a different set of light rays shown; and

[0124]FIG. 47 is a schematic illustration of an aperture stop,constructed and operative in accordance with another embodiment of thedisclosed technique.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0125] The disclosed technique overcomes the disadvantages of the priorart by providing a continuous imaging stereoscopic apparatus, using agenerally lenticular lens layer, a light sensor array and an imageprocessing system.

[0126] Reference is now made to FIG. 1, which is a schematicillustration of a three-dimensional object 150 and a stereoscopicimaging apparatus, generally referenced 100, constructed and operativein accordance with an embodiment of the disclosed technique. Apparatus100 includes a lenticular lens layer 104, a light sensor array 102, aprocessor 106 and two display devices 108R and 108L. Apparatus 100 isplaced in front of three-dimensional object 150. An optical assembly 152is placed between apparatus 100 and object 150, for focusing the imageof object 150 on light sensor array 102.

[0127] Light sensor array 102 includes a plurality of sensors 110, 111,112, 113, 114, 115, 116, 117, 118 and 119. Lenticular lens layer 104includes a plurality of lenticular elements 130, 132, 134, 136 and 138.Each one of the lenticular elements is located above two light sensors,in a way that lenticular element 130 is located above sensors 110 and111, lenticular element 132 is located above sensors 112 and 113,lenticular element 134 is located above sensors 114 and 115, lenticularelement 136 is located above sensors 116 and 117 and lenticular element138 is located above sensors 118 and 119.

[0128] The light sensors 110, 111, 112, 113,114, 115, 116, 117, 118, and119, detect light as directed by the lenticular lens elements 130, 132,134, 136 and 138, and provide respective information to the processor106. The processor 106 processes this information, produces a pair ofimages, as will be explained in detail herein below, and provides themto the display units 108R and 108L, which in turn produce visualrepresentations of these images.

[0129] In general, each lenticular element directs light rays, whicharrive from a predetermined direction to a predetermined location, andlight rays which arrive from another predetermined direction, to anotherpredetermined location. Hence, the disclosed technique, utilizes thelenticular lens layer to distinguish between a right view image and aleft view image, as is described herein below.

[0130] Each of the display units 108R and 108L includes a plurality ofdisplay units also known as pixels. Display unit 108L includes pixels142A, 142B, 142C, 142D and 142E. Display unit 108R includes pixels 144A,144B, 144C, 144D and 144E. Using these pixels each of the display units108R and 108L produces an image, according to data provided from theprocessor 106. The two images, each viewed by a different eye of theuser, produce a sensation of a three-dimensional image.

[0131] Light rays 124A, and 126A represent a right-side image of thethree-dimensional object 150. Light rays 120A, and 122A represent a leftside image of the three-dimensional object 150. The optical assembly 152redirects light rays 120A, 122A, 124A and 126A so as to focus them on aplain which is determined by the light sensor array 102, as light rays120B, 122B, 124B and 126B, respectively. Hence, light rays 122B and 126Brepresent a focused right side view of the three-dimensional object 150,and light rays 120B and 124B represent a focused left side view of thethree-dimensional object 150.

[0132] The lenticular lens layer 104 directs the focused right side viewlight rays 122B and 126B to light sensors 110 and 118, respectively, asrespective light rays 122C and 126C. In addition, the lenticular lenslayer 104 directs the focused left side view light rays 120B and 124B tolight sensors 111 and 119, respectively. In general, light sensors 111,113, 115, 117 and 119 detect light rays which relate to a left side viewimage of object 150, and light sensors 110, 112, 114, 116, and 118,detect light rays which relate to a right side view image of object 150.

[0133] Hence, light sensors 110,112, 114, 116 and 118 detect the rightside image of object 150, while light sensors 111, 113, 115, 117 and 119detect the left side image of object 150. The light sensor array 102provides data relating to the detected light intensity at each of thelight sensors to the processor 106. It is noted that in the followingdescription, the term processor, refers to a control unit which isadapted for a given situation such as a CPU, a controller, a processor,a gated element, a timing unit such as a clock, and the like.Accordingly, the terms CPU, controller, processor, gated element, timingunit, clock, and the like, are interchangeable, with respect to a givenarchitecture or a given method.

[0134] The processor 106 processes this data, produces a right sideimage from the data relating to the right side view and a left sideimage from the data relating to the left side view, and provides therespective image to the respective display unit 108R and 108L. In thepresent example, the processor 106 utilizes the data received fromsensors 110, 112, 114, 116 and 118 to determine the data provided topixels 144A, 144B, 144C, 144D and 144E, respectively. Similarly, theprocessor 106 utilizes the data received from sensors 111, 113, 115, 117and 119 to determine the data which is to be provided to pixels 142A,142B, 142C, 142D and 142E, respectively.

[0135] According to the disclosed technique, the right side image andthe left side image are detected at the same time and hence, can also bedisplayed at the same time. According to another aspect of the disclosedtechnique, each of the light sensors 110, 111, 112, 113, 114, 115, 116,117, 118, and 119, includes a plurality of color sensing elements, whichtogether cover a predetermined spectrum, as will be described in detailherein below.

[0136] Reference is now made to FIG. 2, which is a schematicillustration of a stereoscopic imaging apparatus, generally referenced200, constructed and operative in accordance with another embodiment ofthe disclosed technique. Apparatus 200 includes a sensor assembly 202,an interface 210, a processor 208, a movement detector 230, a lightsource 206, a memory unit 204, a stereoscopic video generator 212 and astereoscopic display 214. The sensor assembly 202 is coupled with theinterface 210 by a flexible cord 218. The interface 210 is coupled withprocessor 208, memory unit 204, and with light source 206. The processor208 is further coupled with the memory unit 204, movement detector 230and with the stereoscopic video generator 212. The stereoscopic videogenerator 212 is further coupled with the stereoscopic display 214.Movement detector 230 detects the movement of sensor assembly 202relative to an object. For this purpose, movement detector 230 isattached to sensor assembly 202. In the case of a rigid endoscope, themovement detector 230 can be attached to any part of the endoscope rod(not shown), since the movement of the endoscope head can be determinedaccording to the movement of any point of the endoscope rod. Theoperation of system 200, according to data received from movementdetector 230, is described herein below.

[0137] The sensor assembly 202 includes a focusing element, which in thepresent example is a lens 226, a lenticular lens layer 222, a lightsensor array 220, an interface 228 and a light projecting means 224. Thelenticular lens layer 222 is attached to the light sensor array 220.According to the disclosed technique, the light sensor array 220 can beany type of sensing array, such as a CCD detector, a CMOS detector, andthe like. The light sensor array 220 is coupled with the interface 228,which can also acts as a supporting base.

[0138] The stereoscopic display 214 includes two display units, a leftdisplay unit 216L (for placing in front of the left eye of the user) anda right display unit 216R (for placing in front of the right eye of theuser). Hence, the stereoscopic display 214 is capable of displayingstereoscopic images continuously. Such a stereoscopic display unit isfor example the ProView 50 ST head-mounted display, manufactured andsold by Kaiser Electro-Optics Inc., a US registered company, located inCarlsbad, Calif. Another example for a stereoscopic display unit is thevirtual retinal display (VRD) unit, which is provided by MICROVISIONInc., a US registered company, located in Seattle, Wash. It is notedthat any method, which is known in the art for displaying stereoscopic,and for that matter three-dimensional images, is applicable for thedisclosed technique.

[0139] The image received from a three-dimensional object is received atthe sensor assembly 202, focused by lens 226, optically processed by thelenticular lens layer 222 and finally detected by the light sensor array220. The lenticular lens layer 222 directs light coming from onepredetermined direction to predetermined light sensors of the lightsensor array 220, and light coming from another predetermined directionto other predetermined light sensors of the light sensor array 220.Accordingly, light sensor array 220 detects two images of the sameobject, a right side image and a left side image, each from a differentdirection. This aspect of the disclosed technique is described in detailhereinabove, in conjunction with FIG. 1.

[0140] An electronic representation of this information is partiallyprocessed by the interface 228 and then provided to the interface 210,via flexible cord 218. It is noted that flexible cord 218 may includedigital communication linking means such as optic fibers or electricalwires, for transferring data received from light sensor array 220, aswell as light guiding conducting means for conducting light from lightsource 206 to the light projecting means 224. According to the disclosedtechnique, flexible cord 218 can be replaced with a rigid cord (notshown), if necessary.

[0141] The data received at interface 210 includes information, whichrelates to the two images and has to be processed so as to distinguishthem from each other. As the processor 208 processes the information, ituses the memory unit 204 as temporarily storage.

[0142] After processing the information, the processor 208 produces twomatrices each being a reconstructed representation relating to one ofthe originally detected images. The processor provides these matrixes tothe stereoscopic video generator 212, which in turn produces tworespective video signals, one for the left view image and another forthe right view image.

[0143] The stereoscopic video generator 212 provides the video signalsto the stereoscopic display 214, which in turn produces two images, oneusing right display unit 216R and another using left display unit 216L.

[0144] It is noted that the general size of the sensor assembly 202 isdictated by the size of the sensor array and can be in the order of afew millimeters or a few centimeters. This depends on the size of eachof the sensors in the array and the total number of sensors (i.e. therequired optical resolution).

[0145] According to one aspect of the disclosed technique, each of thesensors in light sensor array 220, is a full range sensor, which yieldsdata relating to a gray scale stereoscopic image. According to anotheraspect of the disclosed technique, each of the sensors in the lightsensor array, can be adapted so as to provide full color detectioncapabilities.

[0146] Reference is now made to FIG. 3A, which is a schematicillustration of a super-pixel, generally referenced 300, constructed andoperative in accordance with a further embodiment of the disclosedtechnique. Super-pixel 300 includes a left section of sensors whichincludes three sensors 302, 304 and 306, and a right section of sensorswhich also includes three sensors 308, 310 and 312. Sensors 302 and 310detect generally red colored light, sensors 304 and 312 detect generallygreen colored light and sensors 306 and 308 detect generally bluecolored light. Hence, each of the sections includes a complete set ofsensors for detecting light in the entire visible spectrum.

[0147] Reference is further made to FIG. 3B, which is a schematicillustration of the super-pixel 300 of FIG. 3A and a lenticular element,generally referenced 318, constructed and operative in accordance withanother embodiment of the disclosed technique. The lenticular element318 is located on top of super-pixel 300, such that its right sidecovers the right section of the super-pixel 300, and its left sidecovers the left section of the super-pixel 300. Accordingly, thelenticular element 318 directs light, which arrives from the right(right view image), to the left section of the super-pixel 300, where itis detected in full spectrum by sensors 302, 304 and 306.

[0148] The data provided by these sensors can later be utilized toreconstruct an image in full color. Similarly, the lenticular element318 directs light, which arrives from the left (left view image), to theright section of the super-pixel 300, where it is detected in fullspectrum by sensors 308, 310 and 312.

[0149] Reference is now made to FIG. 3C, which is a schematicillustration of a sensor array, generally referenced 330, and alenticular lens layer, generally referenced 332, constructed andoperative in accordance with a further embodiment of the disclosedtechnique. Sensor array 330 is a matrix of M×N super-pixels, which aregenerally referenced 340. For example, the upper left super-pixel isdenoted 340 _((1,1)), the last super-pixel in the same column is denoted340 _((1,N)) and the lower-right pixel is denoted 340 _((M,N)).Lenticular lens layer 332, of which three lenticular elements are shown(referenced 334), is placed over the sensor array 330.

[0150] Lenticular element 334 ₍₁₎ covers the first column ofsuper-pixels 340 from super-pixel 340 _((1,1)) to super-pixel 340_((1,N)). Lenticular element 334 ₍₂₎ covers the second column ofsuper-pixels 340 from super-pixel 340 _((2,1)) to super-pixel 340_((2,N)). Lenticular element 334 ₍₃₎ covers the third column ofsuper-pixels 340 from super-pixel 340 _((3,1)) to super-pixel 340_((3,N)). Accordingly, each of the lenticular elements of the lenticularlens layer covers an entire column of super-pixels.

[0151] It is noted that a super-pixel according to the disclosedtechnique can include sensors in any set of colors such asred-green-blue (RGB), cyan-yellow-magenta-green (CYMG), infra-red,ultra-violet, and the like, in any arrangement or scheme such as column,diagonals, and the like. It is noted that such a set of colors can beachieved either by using specific color sensitive detectors or by usingcolor filters over the wide spectrum detectors.

[0152] The output of a conventional CYMG sensor array can include aplurality of values, each of which is equal to the sum of two cells inthe same column and in adjacent rows. The following sums may apply in aconventional CYMG sensor array—Cyan+Magenta, Yellow+Green, Cyan+Greenand Yellow+Magenta.

[0153] Reference is further made to FIG. 4, which is a schematicillustration of a super-pixel, generally referenced 350, constructed andoperative in accordance with another embodiment of the disclosedtechnique. Super-pixel 350 includes a left section of sensors whichincludes four sensors 352, 354, 356 and 358 and a right section ofsensors which also includes four sensors 360, 362, 364 and 366. Sensors352 and 366 detect generally cyan colored light, sensors 354 and 360detect generally yellow colored light, sensors 356 and 362 detectgenerally magenta colored light and sensors 358 and 364 detect generallygreen colored light. Hence, each of the sections includes a complete setof sensors for detecting light in the entire visible spectrum.

[0154] Reference is further made to FIGS. 5A, 5B and 5C. FIG. 5A is aschematic illustration of a super-pixel, generally referenced 370,constructed and operative in accordance with a further embodiment of thedisclosed technique. FIG. 5B is a schematic illustration of super-pixel370 combined with a single lenticular element, generally referenced 384,constructed and operative in accordance with another embodiment of thedisclosed technique. FIG. 5C is a schematic illustration of super-pixel370 combined with three lenticular elements, generally referenced 386,constructed and operative in accordance with a further embodiment of thedisclosed technique.

[0155] The color arrangement which is provided for super-pixel 370 istypical for vertical light detection arrays, where each column ofsensors is coated with light filtering layer of a different color. Ascan be seen in FIG. 5A, super-pixel 370 includes a plurality of lightsensors 372, 374, 376, 378, 380 and 382. Light sensors 372 and 378 areblue color range sensors. Light sensors 374 and 380 are green colorrange sensors. Light sensors 376 and 382 are red color range sensors.

[0156] Reference is now made to FIG. 6, which is a schematicillustration of a sensor, generally referenced 390, and a lenticularlens layer, generally referenced 392, constructed and operative inaccordance with another embodiment of the disclosed technique. Sensor390 is logically divided into a plurality of super-pixels, generallyreferenced 394 _((x,y)). For example, the upper-left super-pixel isreferenced 394 _((1,1)) and the lower-right side super-pixel isreferenced 394 _((M,N)).

[0157] As can be seen from FIG. 6, the color arrangement of sensor 390is diagonal. Hence, each super pixel has a different color arrangement,and generally speaking, there are several types of super-pixels, such asred-blue (super pixel 394 _((M-2,N))), green-red (super pixel 394_((M-1,N))) and blue-green (super pixel 394 _((M,N))).

[0158] Reference is now made to FIG. 7A, which is a schematicillustration of a method for operating apparatus 200, operative inaccordance with a further embodiment of the disclosed technique. In step400, the apparatus 200 splits light which arrives from differentdirections, utilizing the lenticular lens 222. Each of the lenticularelements produces two light sectors, one sector which includes lightrays arriving from the left side, and another sector which includeslight rays arriving from the right side.

[0159] In step 402, the apparatus detects each light sector separately,using a plurality of light detectors, each detecting a portion of itsrespective sector. With reference to FIG. 3B, sensors 302, 304 and 306detect light which arrives from the lenticular element 318, at the leftside sector and sensors 308, 310 and 312 detect light which arrives fromthe lenticular element 318, at the right side sector. Each of thesensors detects light at a sub-sector.

[0160] In step 404, the apparatus 200 determines the lightcharacteristics as detected by each of the light sensors, at each of thesub-sectors. In step 408, the apparatus 200 utilizes the data, which wasaccumulated from selected sub-sectors to determine and produce an imagerepresenting a view from one side. In step 406, the apparatus 200utilizes the data, which was accumulated from other selected sub-sectorsto determine and produce an image representing a view from another side.In step 410, the apparatus 200 displays both images using a continuousstereoscopic display device.

[0161] According to a further aspect of the disclosed technique,information from selected pixels can be used to enhance information forother pixels. For example, color information of pixels, which areassociated with a first color, is used for extrapolating that color atthe location of another pixel, associated with a second color.

[0162] Reference is further made to FIGS. 7B and 7C. FIG. 7B is anillustration in detail of step 406 of FIG. 7A. FIG. 7C is a schematicillustration of a sensor array, generally referenced 450, and alenticular lens layer, generally referenced 452, constructed andoperative in accordance with another embodiment of the disclosedtechnique. Sensor array 450 includes a plurality of pixel sensors,referenced 454, each associated with a selected color. For example,pixel sensors R_((1,1)), R_((2,2)), R_((3,3)), R_((4,4)), R_((1,4)) andR_((4,1)) are associated with the red color. Pixel sensors G_((2,1)),G_((3,2)), G_((4,3)), G_((1,3)) and G_((2,4)) are associated with thegreen color. Pixel sensors B_((1,2)), B_((2,3)), B_((3,4)), B_((3,1))and B_((4,2)) are associated with the blue color.

[0163] In step 420, the system, according to the disclosed technique,selects a pixel sensor, associated with a first color. With reference toFIG. 7C, the selected pixel sensor according to the present example ispixel sensor R_((3,3)).

[0164] In step 422, the system determines pixels, associated with asecond color, in the vicinity of the selected pixel. It is noted thatthese pixels can also be restricted to ones, which relate to the sameimage side of the selected pixel. With reference to FIG. 7C, the secondcolor is green and the green pixel sensors, in the vicinity of pixelsensor R_((3,3)), respective of the same image side are pixel sensorsG_((5,1)), G_((3,2)), G_((3,5)), G_((5,4)), and G_((1,3)).

[0165] In step 424, the system calculates an approximation of the levelof the green color at the location of the selected pixel R_((3,3)). Itis noted that the calculation can include a plurality of approximationprocedures, such as calculating the weighted average level, depending onthe location of pixel sensors G_((5,1)), G_((3,2)), G_((3,5)),G_((5,4)), and G_((1,3)), with respect to the location of the selectedpixel sensor R_((3,3)). Similarly, blue color level at the location ofthe selected pixel sensor R_((3,3)), can be calculated using theinformation received from pixel sensors B_((1,2)), B_((1,5)), B_((3,1)),B_((3,4)) and B_((5,3)). Hence the disclosed technique provides a methodfor enhancing picture resolution by means of color informationinterpolation, using image processing.

[0166] It is noted that none of the lenticular elements is necessarilyround shaped, but can be formed according to other optical structureswhich are based on various prism designs, and the like, which providethe directing of beams of light coming from different directions todifferent directions.

[0167] Reference is now made to FIG. 8, which is a schematicillustration of a stereoscopic imaging apparatus, generally referenced500, constructed and operative in accordance with a further embodimentof the disclosed technique. Apparatus 500 includes a sensor assembly502, a frame grabber 510, a processor 508, a light source 506, a memoryunit 504, a stereoscopic video generator 512 and a stereoscopic display514. The sensor assembly 502 is coupled with the frame grabber 510 by aflexible cord 518. The frame grabber 510, the processor 508, the memoryunit 504 and the stereoscopic video generator 512 are all interconnectedvia a common bus.

[0168] The sensor assembly 502 is generally similar to the sensorassembly 202, as described herein above in conjunction with FIG. 2. Thesensor assembly 502 includes a lens 526, a lenticular lens layer 522, alight sensor array 520, an analog to diconverter (A/D) 528 and a lightprojecting means 524. The lenticular lens layer 522 is attached to thelight sensor array 520. Light sensor array 520 is coupled with the A/D528, which could also act as a supporting base. The light projectingmeans 524 is coupled with light source 506, which provides lightthereto.

[0169] The stereoscopic display 514 includes two display units, a leftdisplay unit 516L (for placing in front of the left eye of the user),and a right display unit 516R (for placing in front of the right eye ofthe user). Hence, the stereoscopic display 514 is capable of displayingstereoscopic images continuously. A/D converter 528 converts analoginformation received from light sensor array 522 into digital format andprovides the digital information to frame grabber 510.

[0170] The digital information is received by the frame grabber 510 andhence made available to the processor 508 via the bus. As the processor508 processes the information, it uses the memory unit 504 as temporarystorage. After processing the information, the processor 508 producestwo matrices each being a reconstructed representation relating to oneof the originally detected images. The processor 508 provides thesematrices to the stereoscopic video generator 512, which in turn producestwo respective video signals, one for the left view image and anotherfor the right view image. The stereoscopic video generator 512 providesthe video signals to the stereoscopic display 514, which in turnproduces two images, one using right display unit 516R and another usingleft display unit 516L.

[0171] Reference is now made to FIGS. 9A, 9B and 9C. FIG. 9A is a viewin perspective of a super-pixel, generally referenced 550, and alenticular element, generally referenced 552, constructed and operativein accordance with another embodiment of the disclosed technique. FIG.9B is a view from the bottom of the lenticular element 552 and thesuper-pixel 550 of FIG. 9A. FIG. 9C is a view from the side of thelenticular element 552 and the super-pixel 550 of FIG. 9A.

[0172] The super-pixel 550 includes four sensor sections, 554, 556, 558and 560, arranged in a rectangular formation. The lenticular element 552is shaped like a dome and is basically divided into four sections, eachfacing a different one of the sensor sections 554, 556, 558 and 560.

[0173] The super-pixel 550 and the lenticular element 552 form together,an optical detection unit, which is capable of detecting anddistinguishing light which arrives from four different directions. Thelenticular element 552 directs a portion of the upper-left side view ofthe detected object to sensor section 554 and directs a portion of thelower-left side view of the detected object to sensor section 556. Inaddition, the lenticular element 552 directs a portion of theupper-right side view of the detected object to sensor section 560 and aportion of the lower-right side view of the detected object to sensorsection 558.

[0174] It is noted that according to a further aspect of the disclosedtechnique, the four-direction arrangement, which is described in FIGS.9A, 9B and 9C can be used to logically rotate the image which isprovided to the user, without physically rotating the device itself. Atfirst, sensor sections 560 and 558 are used to form the right-side imageand sensor sections 554 and 556 are used to form the left-side image. Arotation at an angle of 90° clockwise, is provided by assigning sensorsections 554 and 560, to form the right side image, and assigning sensorsections 556 and 558, to form the left-side image. It is further notedthat a rotation in any desired angle can also be performed by means of alinear or other combination of sensor sections, when reconstructing thefinal images.

[0175] Reference is now made to FIG. 10, which is a view in perspectiveof a section of light sensors, generally referenced 570, and alenticular element, generally referenced 572, constructed and operativein accordance with a further embodiment of the disclosed technique.Lenticular element 572 is extended to cover the entire area of thesection of pixels, so as to enhance light transmission thereto.

[0176] Reference is now made to FIG. 11, which is a view in perspectiveof a sensor array, generally referenced 580, and a lenticular lenslayer, generally referenced 582, constructed and operative in accordancewith another embodiment of the disclosed technique. The lenticular lenslayer 582 includes a plurality of four direction lenticular elementssuch as described in FIGS. 9A and 10. The sensor array 580 is logicallydivided into a plurality of sensor sections, generally referenced 584_((x,y)). For example, the upper left sensor section is referenced 584_((1,1)) and the lower-right sensor section is referenced 584 _((M,N)).Each of the sensor sections is located beneath a lenticular element anddetects light directed thereby.

[0177] Reference is now made to FIGS. 12A and 12B. FIG. 12A is aschematic illustration of a detection apparatus, generally referenced600, constructed and operative in accordance with a further embodimentof the disclosed technique. FIG. 12B is another schematic illustrationof detection apparatus 600, of FIG. 12A.

[0178] Detection apparatus 600 includes an optical assembly 602, alenticular lens layer 604 and an array of sensors 608. The detectionapparatus 600 detects images of an object 610, which includes aplurality of object sections 610A, 610B, 610C and 610D.

[0179] Sensor array 608 includes a plurality of super-pixels 608A, 608B,608C and 608D. Each of these super-pixels is divided into a left-sidesection and a right-side section. For example, super-pixel 608A includesa left-side section, designated 608A_(L) and a right-side section,designated 608A_(R).

[0180] The optical assembly 602 is divided into two optical sections 602_(L) and 602 _(R), each directed at transferring an image, whichrepresents a different side view. Optical section 602 _(R) transfers animage, which is a view from the right side of object 610. Opticalsection 602 _(L) transfers an image, which is a view from the left sideof object 610.

[0181] A plurality of light rays 612, 614, 616 and 618 are directed fromall sections of the object 610 to the left side of optical assembly 602(i.e., optical section 602 _(L)), and from there, are directed to thelenticular lens layer 604. Here, these rays are further directed to theleft-side view associated sensor sections, which are sensor sections 608_(L) (i.e., sensor sections 608A_(L), 608B_(L), 608C_(L) and 608D_(L)).

[0182] With reference to FIG. 12B, a plurality of light rays 622, 624,626 and 628 are directed from all sections of the object 610 to theright side of optical assembly 602 (i.e., optical section 602 _(R)), andfrom there, are directed to the lenticular lens layer 604. Here, theserays are further directed to the right-side view associated sensorsections, which are sensor sections 608A_(R), 608B_(R), 608C_(R) and608D_(R).

[0183] Reference is now made to FIG. 13, which is a schematicillustration of a detection apparatus, generally referenced 630,constructed and operative in accordance with another embodiment of thedisclosed technique. Detection apparatus 630 includes an opticalassembly, which is divided into four sections 632, 634, 636 and 638, alenticular lens layer 642 and an array of sensors 640. The detectionapparatus 630 detects images of an object 648, which includes aplurality of object sections 648A, 648B, 648C, 648D, 648E and 648F.Light rays, which arrive from object 648 to any of the optical sections,are directed to a lenticular element of the lenticular lens layer 642,according to their origin.

[0184] In the present example, all of the light rays 646A, 646B, 646Cand 646D arrive from object element 648A. Each of these rays is receivedat a different optical section. Ray 646A is received and directed byoptical section 636, ray 646B is received and directed by opticalsection 638, ray 646C is received and directed by optical section 634and ray 646D is received and directed by optical section 632. Each ofthe optical sections directs its respective ray to a specific lenticularelement 642 _((1,1)), at the right side of the lenticular lens layer642. The location of lenticular element 642 _((1,1)) is respective ofthe location of the object element 648A. The lenticular element 642_((1,1)) directs each of the rays to predetermined light sensors withinits respective super-pixel 640 _((1,1)).

[0185] In accordance with a further aspect of the disclosed technique,there is provided a reduced size color stereovision detection system,which uses time-multiplexed colored light projections, and respectivetime-multiplexed frame grabbing.

[0186] Reference is now made to FIGS. 14A and 14B. FIG. 14A is apartially schematic, partially perspective illustration of a combinedillumination and detection device, generally referenced 650, constructedand operative in accordance with a further embodiment of the disclosedtechnique. FIG. 14B is a partially schematic, partially perspectiveillustration of the combined illumination and detection device 650 ofFIG. 14A, a controller, generally designated 662, and output frames,constructed and operative in accordance with another embodiment of thedisclosed technique.

[0187] Device 650 includes a lenticular lens layer 652, a full spectrumsensor array 654, an optical assembly 660 and an illuminating unit 656,surrounding the optical assembly 660. Illuminating unit 656 includes aplurality of illuminating elements, generally referenced 658, each beingof a specific predetermined color. Illuminating elements 658 _(RED)produce generally red light, illuminating elements 658 _(GREEN) producegenerally green light and illuminating elements 658 _(BLUE) producegenerally blue light. It is noted that each of the illuminating elementscan be of a specific color (i.e., a specific wavelength), a range ofcolors (i.e., a range of wavelengths) or alternating colors, forexample, a multi-color light emitting diode (LED).

[0188] Each group of illuminating elements, which are of the same color,is activated at a different point in time. For example, illuminatingelements 658 _(RED) are activated and shut down first, illuminatingelements 658 _(GREEN) are activated and shut down second andilluminating elements 658 _(BLUE) are activated and shut down last. Thenthe illuminating sequence is repeated.

[0189] With reference to FIG. 14B, the controller 662 is coupled withthe sensor array 654 and to the illuminating unit 656. The sensor array654 includes full spectrum sensors, which are capable of detecting red,green and blue light, but cannot indicate the wavelength of the detectedlight. The controller 662 associates the images, which are detected atany particular moment, using the sensor array 654, with the color of theilluminating elements, which were active at that particular moment.

[0190] Hence, the first detected frame 664 in an illumination sequenceis considered red, since the illuminating elements which were active atthat time, were illuminating elements 658 _(RED). Similarly, the seconddetected frame 666 in an illumination sequence is considered green,since the illuminating elements, which were active at that time, wereilluminating elements 658 _(GREEN). Finally, the last detected frame 668in an illumination sequence is considered blue, since the illuminatingelements, which were active at that time, were illuminating elements 658_(BLUE). It is noted that any other combination of colors is applicablefor this and any other aspect of the disclosed technique, such as CYMG,and the like.

[0191] Reference is now made to FIG. 15, which is an illustration inperspective of a color illumination unit, generally referenced 670,constructed and operative in accordance with a further embodiment of thedisclosed technique. Unit 670 includes a light-guiding element 671,which is generally shaped as an open-cut hollow cone, having a narrowsection 674 and a wide section 672. A detection head according to thedisclosed technique, such as described in FIG. 2 (referenced 202), canbe placed within the hollow space of the light-guiding element 671. Amulti-color light source 680 can be coupled with the narrow section 674.Light, such as light ray 678, which is emitted from the light source680, is directed via the light guiding element 671, and is projectedthrough the wide section 672.

[0192] According to a further aspect of the disclosed technique, aremote multi-color light source 682 can be coupled with the narrowsection 674 via additional light guiding members such as optic-fibers684. Light, such as light ray 676, which is emitted from the lightsource 682, is directed via the light guiding members 684 to the narrowsection 674. The light-guiding element 671 guides light ray 676, andprojects it through the wide section 672. This arrangement is usefulwhen using an external light source, which is to be placed outside theinspected area (for example, outside the body of the patient).

[0193] According to a further aspect of the disclosed technique, a fullspectrum illumination unit, which produces white light, is combined witha device such as sensor assembly 202 (FIG. 2).

[0194] Reference is now made to FIG. 16, which is a view in perspectiveof a sensor array, generally referenced 700, and a partial lenticularlens layer, generally referenced 702, constructed and operative inaccordance with another embodiment of the disclosed technique. Thepartial lenticular lens layer 700 includes a plurality of four directionlenticular elements 702 such as described in FIGS. 9A and 10. The sensorarray 700 is logically divided into a plurality of sensor sections,generally referenced 704 _((x,y)). For example, the upper left sensorsection is referenced 704 _((1,1)) and the lower-right sensor section isreferenced 704 _((M,N)). Some of the sensor sections, in the perimeter,are located beneath lenticular elements and others, such as the sensorsections in the center rectangle, which is defined by sensor sections704 _((4,3))-704 _((7,6)) are not. Accordingly, the sensors which arelocated at the center rectangle can not be used to providemulti-direction (stereoscopic or quadroscopic) information. Instead,these sensors provide enhanced resolution monoscopic information.

[0195] Reference is now made to FIG. 17, which is a view in perspectiveof a sensor array, generally referenced 720, and a partial lenticularlens layer, generally referenced 722, constructed and operative inaccordance with a further embodiment of the disclosed technique. Thepartial lenticular lens layer 720 includes a plurality of four directionlenticular elements such as described in FIGS. 9A and 10. The sensorarray 720 is logically divided into a plurality of sensor sections,generally referenced 724 _((x,y)). For example, the upper left sensorsection is referenced 724 _((1,1)) and the lower-right sensor section isreferenced 724 _((M,N)). Here, some of the sensor sections, in thecenter, (such as sensor section 724 _((4,2))) are located beneathlenticular elements and others, such as the sensor sections in theperimeter (such as sensor section 724 _((1,1))) are not. Accordingly,the sensors which are located at the center provide multi-direction(stereoscopic or quadroscopic) information and the ones in the perimeterprovide enhanced resolution monoscopic information.

[0196] In accordance with a further aspect of the disclosed techniquethere is provided a partial lenticular lens layer, which includes spacedapart lenticular elements. Reference is now made to FIG. 18, which is aschematic illustration of a sensor array, generally referenced 740, anda partial lenticular lens layer, generally referenced 742, constructedand operative in accordance with another embodiment of the disclosedtechnique.

[0197] The partial lenticular lens layer 742 includes a plurality oflenticular elements designated 744 ₍₁₎, 744 ₍₂₎ and 744 ₍₃₎. Lenticularelement 744 ₍₁₎ is located over the first two left columns of colorsensors, generally referenced 746 ₍₁₎, of sensor array 740. Hence, theinformation received from these first two left columns of color sensorsof sensor array 740 contains stereoscopic information. The third andfourth columns of color sensors, generally designated 746 ₍₂₎, of sensorarray 740 do not have a lenticular element located thereon, and hence,cannot be used to provide stereoscopic information.

[0198] Similarly, lenticular element 744 ₍₂₎ and 744 ₍₃₎ are locatedover color sensor column pairs, 746 ₍₃₎ and 746 ₍₅₎, respectively, whilecolor sensor column pairs, 746 ₍₄₎ and 746 ₍₆₎ are not covered withlenticular elements.

[0199] Reference is now made to FIG. 19, which is a schematicillustration of a sensor array, generally referenced 760, and a partiallenticular lens layer, generally referenced 762, constructed andoperative in accordance with another embodiment of the disclosedtechnique. Lenticular lens layer 762 includes a plurality of lenticularelements, referenced 764 ₍₁₎, 764 ₍₂₎, 764 ₍₃₎ and 764 ₍₄₎, being ofdifferent sizes and located at random locations over the sensor array760. It is noted that any structure of partial lenticular lens layer isapplicable for the disclosed technique, whereas the associated imageprocessing application has to be configured according to the coverage ofthat specific lenticular lens layer, and to address covered sensors anduncovered sensors appropriately.

[0200] In accordance with a further aspect of the disclosed technique,there is provided a system, which produces a color stereoscopic image.The structure of the stereoscopic device defines at least two viewingangles, through which the detector can detect an image of an object.According to one aspect of the disclosed technique, the stereoscopicdevice includes an aperture for each viewing angle. Each of theapertures can be opened or shut. The stereoscopic device captures astereoscopic image, by alternately detecting an image of an object, fromeach of the viewing angles, (e.g., by opening a different aperture at atime and shutting the rest) through a plurality of apertures, (at leasttwo), each time from a different aperture. The final stereoscopic imagecan be reconstructed from the images captured with respect to thedifferent viewing angles.

[0201] The detection of stereoscopic color image is provided byilluminating the object with a sequence of light beams, each at adifferent wavelength, and detecting a separate image for each wavelengthand aperture combination.

[0202] Reference is now made to FIGS. 20A and 20B. FIG. 20A is aschematic illustration of a system, generally referenced 800, forproducing a color stereoscopic image, in a right side detection mode,constructed and operative in accordance with a further embodiment of thedisclosed technique. FIG. 20B is an illustration of the system of FIG.20A, in a left-side detection mode.

[0203] System 800 includes a multiple aperture 804, a controller 834, animage detector 812, a storage unit 836, an image processor 838, amovement detector 814 and an illumination unit 830. The controller 834is coupled with the multiple aperture 804, the image detector 812, thestorage unit 836, movement detector 814 and to the illumination unit830. The storage unit 836 is further coupled with the image processor838. The multiple aperture 804 includes a plurality of apertures,generally referenced 802 _(i), where each aperture can be activated tobe open or closed. It is noted that when an aperture is open it is atleast transparent to a predetermined degree to light, and when anaperture is closed, it substantially prevents the travel of light therethrough. Any type of controllable light valve can be used to constructeach of the apertures. Movement detector 814 detects the movement ofimage detector 812. The detected movement can be a linear displacement,an angular displacement, and the derivatives thereof such as velocity,acceleration, and the like. The operation of system 800, according todata received from movement detector 814, is described herein below inconnection with FIGS. 25A, 25B, 25C, 26A, 26B and 26C.

[0204] Light valve elements are components, which have an ability toinfluence light in at least one way. Some of these ways are, forexample: scattering, converging, diverging, absorbing, imposing apolarization pattern, influencing a polarization pattern which, forexample, may be by rotation of a polarization plane. Other ways toinfluence light can be by influencing wave length, diverting thedirection of a beam, for example by using digital micro-mirror display(also known as DMD) or by using field effect, influencing phase,interference techniques, which either block or transfer a portion of abeam of light, and the like. Activation of light valve elements, whichare utilized by the disclosed technique, can be performed eitherelectrically, magnetically or optically. Commonly used light valveelements are liquid crystal based elements, which either rotate orcreate and enforce a predetermined polarization axis.

[0205] In the present example, multiple aperture 804 includes twoapertures 802 _(R) and 802 _(L). The controller 834 further activatesthe multiple aperture 804, SO as to alternately open apertures 802 _(R)and 802 _(L). In FIG. 20A, aperture 802 _(R) is open while aperture 802_(L) is closed and in FIG. 20B, aperture 802 _(R) is cl0osed whileaperture 802 _(L) is open.

[0206] Light rays, which reflect from various sections of the object810, pass through the currently open aperture (802 _(R) in FIG. 20A and802_(L) in FIG. 20B). Thereby, light rays 822 and 824 arrive fromsection 810A of object 810, pass through aperture 802 _(R), and aredetected by detection element 808A, while light rays 826 and 828 arrivefrom section 810D, pass through aperture 802 _(R) and are detected bydetection element 808D. Hence, when aperture 802 _(R) is open, thesystem 800 provides a right side view of the object 810.

[0207] With reference to FIG. 20B, when aperture 802 _(L) is open, lightrays 827 and 825 arrive from section 810A, pass through aperture 802_(L), and are detected by detection element 808A, while light rays 821and 823 arrive from section 810D, pass through aperture 802 _(L), andare detected by detection element 808D. Thereby, the system 800 providesa left side view of the object 810.

[0208] The illumination unit 830 is a multi-color illumination unit,which can produce light at a plurality of wavelengths. The controller834 provides a sequence of illumination commands to the illuminationunit 830, so as to produce a beam at a different predeterminedwavelength, at each given moment. In the present example, theillumination unit is a red-green-blue (RGB) unit, which can produce ared light beam, a green light beam and a blue light beam. It is notedthat illumination unit 830 can be replaced with any other multi-colorillumination unit, which can produce either visible light, non-visiblelight or both, at any desired wavelength combination (CYMG and thelike).

[0209] Furthermore, illumination unit 830 can be a passive unit, whereit receives external commands to move from one wavelength to another, orit can be an active unit, which changes wavelength independently andprovides an indication of the currently active wavelength to an externalcontroller. Illumination unit 830 of the present example is a passiveunit, which enhances the versatility of the system 800, by providing anywavelength sequence on demand.

[0210] The image detector 812 includes a plurality of detection elements808A, 808B, 808C and 808D. In accordance with one aspect of thedisclosed technique, image detector 812 is a full range color detector,where each of the detection elements is operative to detect light in aplurality of wavelengths. In accordance with another aspect of thedisclosed technique, the image detector 812 is a color segmenteddetector, where the detection elements are divided into groups, eachoperative to detect light in a different range of wavelengths. Oneconventional type of such detectors includes a full range detectionarray, which is covered by a color filter layer, where each detectionelement is covered by a different color filter. Accordingly, some of thedetection elements are covered with red filters, others are covered withgreen filters and the rest are covered with blue filters.

[0211] The disclosed technique enhances the color resolution of systems,using such color detectors. It will be appreciated by those skilled inthe art that a color segment detector of poor quality may exhibit awavelength (color) overlap between the different detection elements. Forexample, when the filters are of poor quality, their filtering functionstend to overlap such as the red filter also passes a small amount ofeither green or blue light. Hence, the detection element behind the redfilter, also detects that small amount of green or blue light, butprovides an output measurement as a measurement of red light. Hence, thecolor detector produces an image, which includes incorrect measurementsof red light (e.g. more than the actual red light, which arrived at thedetector) as result of that overlap. Accordingly, received informationof the inspected object is not valid.

[0212] In the disclosed technique, the illumination unit 830 produces asequence of non-overlapping illumination beams at predeterminedwavelengths (i.e., red, blue and green). As explained above, the colordetector detects an image, which includes incorrect measurements, as aresult of the wavelength (color) filtering overlap. Since theillumination unit 830 and the image acquisition process aresynchronized, the imaging system can process each of the acquiredimages, according to the actual light beam color, which was producedtherewith. For example, the illumination unit 830 produces blue lightillumination beam. At the same time the image detector 812 detects animage, which also includes actual light measurements in detectionelements, which are covered with green and red filters, due to thewavelength overlap. The imaging system can discard light measurements,which are received from detection elements, covered with color filters,which are not blue (e.g., red and green).

[0213] Such sequenced color illumination of the object, providesenhanced color resolution, for color image detectors of poor quality,and obtains the valid color images of the inspected object. System 800can further include a stereoscopic display unit (not shown), coupledwith controller 834 for displaying a stereoscopic image of object 810.

[0214] Reference is further made to FIG. 21A, which is a schematicillustration of a timing sequence, in which controller 834 (FIG. 20A)synchronizes the operation of illumination unit 830, apertures 802 _(L)and 802 _(R), and image detector 812. Signal 840 represents the timingsequence of the left aperture 802 _(L). Signal 842 represents the timingsequence of the right aperture 802 _(R). Signal 844 represents thetiming sequence of the blue light beam, produced by the illuminationunit 830. Signal 846 represents the timing sequence of the green lightbeam, produced by the illumination unit 830. Signal 848 represents thetiming sequence of the red light beam, produced by the illumination unit830. Signal 841 represents the timing sequence of the image detector812, where each image is downloaded therefrom.

[0215] Timing sequence 841 rises every time any of the rises ofsequences 844, 846 and 848 intersect with a rise of either sequence 842or sequence 840. For example, rise 841 _(A) indicates a frame downloadof a blue light—right aperture combination, rise 841 _(B) indicates aframe download of a green light—right aperture combination, and rise 841_(C) indicates a frame download of a red light—right aperturecombination. Similarly, rise 841 _(D) indicates a frame download of ablue light—left aperture combination, rise 841 _(E) indicates a framedownload of a green light—left aperture combination and rise 841 _(F)indicates a frame download of a red light—left aperture combination.

[0216] It is noted that for some light sources, the produced light beamsdo not cover the full range of visible light. For such light sources,the missing color components can be reconstructed (interpolated) takinginto consideration the physiological assumption, that color reflectionresponse as a function of reflected angle, does not change much withangle.

[0217] Reference is further made to FIG. 22, which is a schematicillustration of a method for operating system 800 of FIGS. 20A and 20B,operative in accordance with another embodiment of the disclosedtechnique. In step 870, a sequence of illumination beams atpredetermined wavelengths is produced. With reference to FIGS. 20A and20B, controller 834 provides a sequence of illumination commands to theillumination unit 830, which in turn produces different wavelength lightbeams, generally referenced 832, at predetermined points in time,towards an object, generally referenced 810.

[0218] In step 872 right and left apertures are alternated. Light rays,which reflect from various sections of the object 810, pass through thecurrently open aperture (802 _(R) in FIG. 20A and 802_(L) in FIG. 20B).With reference to FIGS. 20A and 20B, controller 834 provides a sequenceof operating commands to the apertures 802 _(L) and 802 _(R).

[0219] In step 874, a plurality of frames, each for a selected apertureand wavelength combination is detected. Controller 834 operates theimage detector 812 so as to detect a plurality of frames, eachrespective of a selected aperture and wavelength combination.

[0220] Light rays 822 and 824 (FIG. 20A) arrive from section 810A ofobject 810, pass through aperture 802 _(R), and are detected bydetection element 808A, while light rays 826 and 828 arrive from section810D, pass through aperture 802 _(R) and are detected by detectionelement 808D. It is noted that in the present example, an imagingelement (not shown) is introduced in the vicinity of multiple aperture804. Hence, when aperture 802 _(R) is open, the system 800 provides aright side view of the object 810.

[0221] Light rays 827 and 825 (FIG. 20B) arrive from section 810A, passthrough aperture 802 _(L) and are detected by detection element 808A,while light rays 821 and 823 arrive from section 810D, pass throughaperture 802 _(L) and are detected by detection element 808D. Hence,when aperture 802 _(L) is open, the system 800 provides a left side viewof the object 810.

[0222] With reference to FIG. 21A, rise 841 _(A) provides a right sideblue image (reference 806 ^(R) _(B) of FIG. 20A), rise 841 _(B) providesa right side green image (reference 806 ^(R) _(G) of FIG. 20A), and rise841 _(C) provides a right side red image (reference 806 ^(R) _(R) ofFIG. 20A). Similarly, rise 841 _(D) provides a left side blue image(reference 806 ^(L) _(B) of FIG. 20B), rise 841 _(E) provides a leftside green image (reference 806 ^(L) _(G) of FIG. 20B), and rise 841_(F) provides a left side red image (reference 806 ^(L) _(R) of FIG.20B). With reference to FIGS. 20A and 20B, image detector 812 detectsthe plurality of frames, and provides right and left output video forimage processing.

[0223] In step 876, movement between the detector and the inspectedorgan, at selected frequencies is detected. This movement can bedetected from movement of the endoscope, by means of a movementdetector, or by analyzing the detected images, where different colorimages exhibit different lines, with dramatic color shade changes. Thisinformation is utilized in the following step, for spatially correlatingbetween images of different colors.

[0224] In step 878 a stereoscopic color image from the plurality offrames, according to their aperture origin is produced. With referenceto FIGS. 20A and 20B, the controller 834 stores the detected images instorage unit 836. Image processor 838 retrieves the detected images fromthe storage unit 836, and constructs color stereoscopic images. Hence,the disclosed technique provides an additional way for detecting a colorstereoscopic image, using a single image detector for both sides and allcolors.

[0225] Reference is further made to FIG. 21B, which is a schematicillustration of another timing sequence, in which controller 834 (FIG.20A) synchronizes the operation of illumination unit 830, apertures 802_(L and 802) _(R), and image detector 812. Signal 840′ represents thetiming sequence of the left aperture 802 _(L). Signal 842′ representsthe timing sequence of the right aperture 802 _(R). Signal 844′represents the timing sequence of the blue light beam, produced by theillumination unit 830. Signal 846′ represents the timing sequence of thegreen light beam, produced by the illumination unit 830. Signal 848′represents the timing sequence of the red light beam, produced by theillumination unit 830. Signal 841′ represents the timing sequence of theimage detector 812, where each image is downloaded therefrom.

[0226] Timing sequence 841′ rises every time any of the rises of sequenc844′, 846′ and 848′ intersects with a rise of either sequence 842′ orsequence 840′. For example, rise 841′_(A) indicates a frame download ofa blue light—right aperture combination, rise 841′_(B) indicates a framedownload of a blue light—left aperture combination and rise 841′_(C)indicates a frame download of a green light—right aperture combination.Similarly, rise 841′_(D) indicates a frame download of a greenlight—left aperture combination, rise 841′_(E) indicates a framedownload of a red light—right aperture combination and rise 841′_(F)indicates a frame download of a blue light—left aperture combination.

[0227] Reference is further made to FIG. 23, which is a schematicillustration of a timing scheme, for operating system 800 of FIGS. 20Aand 20B, in accordance with a further embodiment of the disclosedtechnique. Signal 850 represents the timing sequence of the leftaperture 802 _(L). Signal 852 represents the timing sequence of theright aperture 802 _(R). Signal 854 represents the timing sequence ofthe blue light beam. Signal 856 represents the timing sequence of thegreen light beam. Signal 858 represents the timing sequence of the redlight beam. Signal 851 represents the timing sequence of the imagedetector 812, where each image is downloaded therefrom. As can be seenin FIG. 23, the timing scheme is asymmetric, where the green light beamis activated for a time period which is twice the time period of eitherthe red light beam or the blue light beam. Signal 851 corresponds tothis arrangement and provides a green image download rise (references851 _(B) and 851 _(E)), after a time period which is twice as long withcomparison to red image download rises (references 851 _(C) and 851_(F)) or blue image download rises (references 851 _(A) and 851 _(D)).

[0228] Reference is further made to FIG. 24, which is a schematicillustration of a timing scheme, for operating system 800 of FIGS. 20Aand 20B, in accordance with another embodiment of the disclosedtechnique. Signal 860 represents the timing sequence of the leftaperture 802 _(L). Signal 862 represents the timing sequence of theright aperture 802 _(R). Signal 864 represents the timing sequence ofthe magenta light beam. Signal 866 represents the timing sequence of theyellow light beam. Signal 868 represents the timing sequence of the cyanlight beam. As can be seen in FIG. 24, the timing scheme addresses analternate wavelength scheme and is also asymmetric.

[0229] It is noted that a mechanical multi-wavelength illumination unitsuch as described in the prior art, can be used for implementing thedisclosed technique. However, such a system significantly reduces thecapability of the user to control illumination duration, wavelengthratio and detection timing, such as described herein above.

[0230] The disclosed technique incorporates even more advanced aspects,which provide automatic image translation correction, based oncorrelation between the two detected images. When the endoscope ishandheld, it is subjected to the vibration of the human hand, which isin the order of 10 Hz, at an angular amplitude of 1 degree. Thisphenomenon causes a blur of areas, where different colors intersect, andis also known as the “between color field blur” effect. It is noted thatany movement between the image detector and the inspected organ cancause this phenomenon, provided it occurs at particular frequencies,defined by the structure and the manner of operation of the system.

[0231] With reference to FIGS. 20A and 20B, since the informationretrieved from image detector 812 relates to specific colors, thencontroller 834 can correlate between such single color images todetermine the ΔX and ΔY to the subsequent color, and hence compose andproduce an un-blurred color image. Due to the vibrations of the humanhand, while image detector 812 is substantially stationary relative toobject 810, the displayed stereoscopic image of object 810 is blurred.In order to mitigate this problem, and provide a blur-free stereoscopicimage of object 810 to the viewer, movement detector 230 (FIG. 2), isincorporated with system 200, and movement detector 814 is incorporatedwith system 800.

[0232] Reference is now made to FIGS. 25A, 25B, 25C, 26A, 26B and 26Cand again to FIG. 2. FIG. 25A is a schematic illustration of an object,generally referenced 766, and a sensor assembly generally referenced768, when the sensor assembly is located at an initial position withrespect to the object. FIG. 25B is a schematic illustration of theobject and the sensor assembly of FIG. 25A, when the sensor assembly hasmoved to a new position. FIG. 25C is a schematic illustration of theobject and the sensor assembly of FIG. 25A, when the sensor assembly hasmoved to another position. FIG. 26A is a schematic illustration of adetected image, generally referenced 770, as detected by sensor assemblyof FIG. 25A, and a respective displayed image, generally referenced 772,in accordance with a further embodiment of the disclosed technique. FIG.26B is a schematic illustration of a detected image, generallyreferenced 780, as detected by sensor assembly of FIG. 25B, and arespective displayed image, generally referenced 774. FIG. 26C is aschematic illustration of a detected image, generally referenced 782, asdetected by the sensor assembly of FIG. 25C, and a respective displayedimage, generally referenced 776.

[0233] The foregoing description relates to one aspect of the disclosedtechnique, in which a stereoscopic image of an object is captured by asensor array through a lenticular lens layer (i.e., each captured imageincludes all the primary colors of the color palette, such as RGB, CYMG,and the like). It is noted that the movement is determined such that ithas a constant average (e.g., vibrating about a certain point).

[0234] With reference to FIGS. 25A and 26A, the center of sensorassembly 768 is located at a point O₁ relative to object 766. Sensorassembly 768 detects detected image 770 (FIG. 26A) of object 766, wherethe detected image 770 is composed for example, of four hundred pixels(i.e., a 20×20 matrix). Each pixel is designated by P_(m,n) where m isthe row and n is the column of detected image 770. For example, pixel778 _(1,1) is located in the first row and the first column of detectedimage 770, pixel 778 _(1,2) is located in the first row and the secondcolumn, and pixel 77820,20 is located in row twenty and column twenty.Processor 208 selects pixels 778 _(3,3) through 778 _(18,18) (i.e., atotal of 16×16=256 pixels) to display the sub-matrix 772 on stereoscopicdisplay 214 (FIG. 2), while the center of sensor assembly 768 is locatedat point O₁.

[0235] With reference to FIGS. 25B and 26B, due to the vibrations of thehuman hand, the center of sensor assembly 768 has moved to a point O₂relative to object 766. Point O₂ is located a distance ΔX₁ to the rightof point O₁ and a distance ΔY₁ below point O₁. In this case the lengthof ΔX₁ is equal to the horizontal width of two pixels of detected image780, and the length ΔY₁ is equal to the vertical height of minus twopixels of detected image 780. Movement detector 230 detects the movementof sensor assembly 768 from point O₁ to point O₂, and sends a signalrespective of this movement, to processor 208.

[0236] With reference to FIG. 26B, the image of the object section thatwas captured by sub-matrix 772, is now captured by a sub-matrix 774,which is shifted two pixels up and two pixels to the left. Hence,displaying sub-matrix 774, compensates for the movement of sensorassembly 768. For this purpose, processor 208 selects pixels 778 _(1,1)through 778 _(16,16) of detected image 780, for sub-matrix 774. Despitethe movement of sensor assembly 768, the images of sub-matrices 772 and774 are substantially of the same area, and therefore the user does notrealize that sensor assembly 768 has moved from point O₁ to point O₂.

[0237] With reference to FIGS. 25C and 26C, the center of sensorassembly 768 has moved from point O₁ to a point O₃ relative to object766. Point O₃ is located a distance ΔX₂ to the left of point O₁ and adistance ΔY₂ above point O₁. In this case the length of ΔX₂ is equal tothe horizontal of minus two pixels of detected image 782, and the lengthΔY₂ is equal to the vertical height of one pixel of detected image 782.Movement detector 230 detects the movement of sensor assembly 768 frompoint O₁ to point O₃, and sends a signal respective of this movement, toprocessor 208.

[0238] With reference to FIG. 26C, the image of the object section thatwas captured by sub-matrix 772, is now captured by a sub-matrix 776,which is shifted one pixel up and two pixels to the left. Hence,displaying sub-matrix 774, compensates for the movement of sensorassembly 768 two pixels to the left and one pixel up. For this purpose,processor 208 selects pixels 778 _(5,4) through 778 _(20,19) of detectedimage 782, for sub-matrix 776. Despite the movement of sensor assembly768, the images of displayed images 772 and 776 are identical, andtherefore the user does not realize that sensor assembly 768 has movedfrom point O₁ to point O₃. Therefore, by incorporating movement detector230 with sensor assembly 768, the viewer views a blur-free stereoscopiccolor image of object 766, despite the vibrations of sensor assembly 768caused by the human hand.

[0239] It is noted that processor 208 processes the detected images 780and 782, if the dimensions ΔX₁, ΔX₂, ΔY₁ and ΔY₂ are of the order of A,the amplitude of vibrations of the human hand and in the appropriatefrequency. In general, processor 208 performs the compensation process,between a plurality of captured images, as long as the detectedmovement, is maintained about a certain average point (X_(AVERAGE),Y_(AVERAGE)). When one of the average values X_(AVERAGE) and Y_(AVERAGE)changes, then processor 208 initiates a new compensation process aroundthe updated average point, accordingly.

[0240] Reference is now made to FIGS. 25D, 25E, 25F, 27A, 27B, 27C, 27D,27E, 27F and again to FIGS. 20A, 20B, 25A, 25B and 25C. FIG. 25D is aschematic illustration of the object and the sensor assembly of FIG.25A, when the sensor assembly has moved to a further new position. FIG.25E is a schematic illustration of the object and the sensor assembly ofFIG. 25A, when the sensor assembly has moved to another new position.FIG. 25F is a schematic illustration of the object and the sensorassembly of FIG. 25A, when the sensor assembly has moved to a furthernew position. FIG. 27A is a schematic illustration of a sub-matrix,generally referenced 1064, in accordance with another embodiment of thedisclosed technique, when the sensor assembly is at a locationillustrated in FIG. 25A. FIG. 27B is a schematic illustration of asub-matrix, generally referenced 1066, when the sensor assembly is at alocation illustrated in FIG. 25B. FIG. 27C is a schematic illustrationof a sub-matrix, generally referenced 1068, when the sensor assembly isat a location illustrated in FIG. 25C. FIG. 27D is a schematicillustration of a sub-matrix, generally referenced 1070, when the sensorassembly is at a location illustrated in FIG. 25D. FIG. 27E is aschematic illustration of a sub-matrix, generally referenced 1072, whenthe sensor assembly is at a location illustrated in FIG. 25E. FIG. 27Fis a schematic illustration of a sub-matrix, generally referenced 1074,when the sensor assembly is at a location illustrated in FIG. 25F.

[0241] Image processor 838 (FIG. 20A), selects each of sub-matrices1064, 1066 and 1068 from detected images 1052, 1054 and 1056,respectively, as described herein above in connection with FIGS. 26A,26B and 26C. Analogously, image processor 838 selects each ofsub-matrices 1070, 1072 and 1074 from detected images 1058, 1060 and1062, respectively, when the center of sensor assembly 768 is directedto each of the points O₄, O₅, and O₆, respectively. For example, whenthe center of sensor assembly 768 is directed to point O₄, which islocated to the right and above point O₁, image processor 838 selectssub-matrix 1070 (FIG. 27D). When the center of sensor assembly 838 isdirected to point O₅ directly below point O₁, image processor 838selects sub-matrix 1072 (FIG. 27E). When the center of sensor assembly838 is directed to point O₆ directly above point O₁, image processor 838selects sub-matrix 1074 (FIG. 27F).

[0242] In the following description, object 810 (FIGS. 20A and 20B) andobject 766 (FIG. 25A) are used interchangeably, although they bothrepresent the same object. Object 810 is described in connection withmultiple aperture 804 and illumination unit 830, while object 766 isdescribed in connection with the location of sensor assembly 768relative thereto. It is noted that during the time interval in which theopening of multiple aperture 804 switches from aperture 802 _(R) (FIG.20A), to aperture 802 _(L) (FIG. 20B), sensor assembly 768 movesrelative to object 766, due to the vibrations of the human hand. Thus,for example, sub-matrix 1064 (FIG. 27A) represents a right view image ofobject 810 corresponding to the image which image processor 838captures, when aperture 802 _(R) is open. On the other hand, sub-matrix1066 (FIG. 27B) represents a left view image of object 766, whenaperture 802 _(L) is open.

[0243] Furthermore, the color of detected images 1052, 1054, 1056, 1058,1060, and 1062 changes as described herein above for example inconnection with FIG. 21B. Image processor 838 receives download image841′_(A), and selects sub-matrix 1064 (FIG. 27A), which is a right viewimage of object 766 (FIG. 25A) in blue, when the center of sensorassembly 768 is directed to point O₁.

[0244] While multiple aperture 804 switches to aperture 802 _(L), thecenter of sensor assembly 768 (FIG. 25B) directs to point O₂ (FIG. 25B),and image processor 838 receives download image 841′_(B). Since thecenter of sensor assembly 768 is directed to point O₂ (FIG. 25B), thenimage processor 838 selects sub-matrix 1066 (FIG. 27B) which representsa left view image of object 810 in blue. Analogously, sub-matrix 1068(FIG. 27C) represents a green right view image of object 766 (downloadimage 841′_(C)), when the center of sensor assembly 768 is directed topoint O₃ (FIG. 25C). Sub-matrix 1070 (FIG. 27D) represents a green leftview image of object 766 (download image 841′_(D)), when the center ofsensor assembly 768 directs to point O₄ (FIG. 25D). Sub-matrix 1072(FIG. 27E) represents a red right view image of object 766 (downloadimage 841′_(E)), when the center of sensor assembly 768 directs to pointO₅ (FIG. 25E). Sub-matrix 1074 (FIG. 27F) represents a red left viewimage of object 766 (download image 841′_(F)), when the center of sensorassembly 768 directs to point O₆ (FIG. 25F).

[0245] According to FIG. 21A, a stereoscopic display unit (not shown)displays sub-matrices 1064, 1066, 1068, 1070, 1072 and 1074 in sequence.Sub-matrices 1064, 1068 and 1072 are the right side views ofsubstantially the same area of object 766, which together compose aright side color image of the object 766. Sub-matrices 1066, 1070 and1074 are the left side views of substantially the same area of object766, which together compose a left side color image of the object 766.The stereoscopic display unit alternately displays the right view imageand the left view image of substantially the same area of object 766.Thus, system 800 maintains a stable image of object 766, which does notexhibit any change in the location of object 766 as displayed on thestereoscopic display unit, despite the movement of sensor assembly 768due to the vibrations of the human hand.

[0246] For example, image processor 838 selects sub-matrices 1064, 1068and 1072 (FIGS. 27A, 27C and 27E, respectively), and the stereoscopicdisplay (not shown), sequentially displays the same image in blue, greenand red, respectively. Thus, the stereoscopic display presents a stableright side image of the object in full color, to the right eye.Similarly, the stereoscopic display sequentially displays sub-matrices1066, 1070 and 1074 (FIGS. 27B, 27D and 27F, respectively), wherein thecolor of each sub-matrix sequentially changes from blue to green to red,respectively. In this manner, the stereoscopic display presents a stableleft side image of the object in full color, to the left eye. Thus, theuser views a stable full color stereoscopic image of the object, despitethe movement of the endoscope due to the vibrations of the human hand.

[0247] It is noted that an RGB timing scheme can be employed. In thiscase, the stereoscopic display displays the sub-matrices in a sequenceof right-red, left-green, right-blue, left-red, right-green andleft-blue.

[0248] It is noted that the sequence of FIGS. 27A, 27B, 27C, 27D, 27Eand 27F is cyclically repeated during the imaging process of the object.Other timing schemes can be employed where the download image triggersignal is used for acquiring a reading from movement detector 814, forthe detected image. Examples for such timing schemes are illustrated inFIGS. 23, 24, and 21A.

[0249] According to another aspect of the disclosed technique, thelocations from which the three-dimensional object is viewed from theright side and from the left side thereof, are further separated. Thus,the difference between the right side view image and the left side viewimage is substantially increased and the stereoscopic notion produced bythe two images is substantially enhanced.

[0250] Reference is now made to FIGS. 28A and 28B. FIG. 28A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 1100, constructed and operative in accordance with a furtherembodiment of the disclosed technique. FIG. 28B is a schematicillustration of the apparatus of FIG. 28A, in another mode of imaging.

[0251] Apparatus 1100 includes a periscopic assembly 1102, an opticalassembly 1104, a lenticular lens layer 1106 and a light sensor array1108. Periscopic assembly 1102 includes a right mirror 1110, a leftmirror 1112, a right center mirror 1114 and a left center mirror 1116.Lenticular lens layer 1106 and light sensor array 1108 are similar tolenticular lens layer 104 and light sensor array 102, respectively, asdescribed herein above in connection with FIG. 1. However, lenticularlens layer 1106 is positioned in an orientation opposite to thatillustrated in FIG. 1. Periscopic assembly 1102 is located between athree-dimensional object 1118 and optical assembly 1104. Opticalassembly 1104 is located between periscopic assembly 1102 and lenticularlens layer 1106.

[0252] With reference to FIG. 28A, right mirror 1110 receives a lightbeam 1120A, which is a right side view of the right side ofthree-dimensional object 1118. Right mirror 1110 reflects light beam1120A, as a light beam 1120B. Right center mirror 1114 reflects lightbeam 1120B toward optical assembly 1104, as a light beam 1120C. Opticalassembly 1104 directs a light beam 1120D to a lenticular element 1128 oflenticular lens layer 1106. Lenticular element 1128 focuses light beam1120D on a sensor 1130 of light sensor array 1108. Light sensor array1108 detects the right side view image of three-dimensional object 1118and provides a respective signal to a processor, such as processor 208(FIG. 2), via an interface, such as interface 210.

[0253] Left mirror 1112 receives a light beam 1122A, which is a leftside view of the right side of three-dimensional object 1118. Leftmirror 1112 reflects light beam 1122A, as a light beam 1122B. Leftcenter mirror 1116 reflects light beam 1122B toward optical assembly1104, as a light beam 1122C. Optical assembly 1104 directs a light beam1122D to lenticular element 1128 of lenticular lens layer 1106.Lenticular element 1128 focuses light beam 1122D on a sensor 1132 oflight sensor array 1108.

[0254] With reference to FIG. 28B, left mirror 1112 receives a lightbeam 1124A, which is a left side view of the left side ofthree-dimensional object 1118. Left mirror 1112 reflects light beam1124A, as a light beam 1124B. Left center mirror 1116 reflects lightbeam 1124B toward optical assembly 1104, as a light beam 1124C. Opticalassembly 1104 directs a light beam 1124D to a lenticular element 1134 oflenticular lens layer 1106. Lenticular element 1134 focuses light beam1124D on a sensor 1136 of light sensor array 1108.

[0255] Right mirror 1110 receives a light beam 1126A, which is a rightside view of the left side of three-dimensional object 1118. Rightmirror 1110 reflects light beam 1126A, as a light beam 1126B. Rightcenter mirror 1114 reflects light beam 1126B toward optical assembly1104, as a light beam 1126C. Optical assembly 1104 directs a light beam1126D to lenticular element 1134 of lenticular lens layer 1106.Lenticular element 1134 focuses light beam 1126D on a sensor 1138 oflight sensor array 1108.

[0256] It is noted that right mirror 1110 and right center mirror 1114together operate similar to a periscope. Likewise, left mirror 1112 andleft center mirror 1116 together operate similar to a periscope. Rightmirror 1110 and left mirror 1112 are located substantially apartrelative to an axis which is perpendicular to lenticular lens layer 1106and which passes through the junction of right center mirror 1114 andleft center mirror 1116. Hence, right mirror 1110 detects a right sideview of three-dimensional object 1118, which is substantially differentthan the left side view thereof, detected by left mirror 1112. Thus, therespective light detecting elements of light sensor array 1108 receivelight beams respective of the right side view and the left side view ofthree-dimensional object 1118, which are more distinct than in the caseof FIG. 1. Hence, apparatus 1100 can provide a sharper stereoscopicimage of three-dimensional object 1118, than an apparatus similar toapparatus 200 (FIG. 2).

[0257] According to another aspect of the disclosed technique, a lightvalve alternately differentiates between images of a three-dimensionalobject received from different directions, and alternately providesthese images to an image detector. Thus, the image detector alternatelydetects images of the three-dimensional object, from different sidesthereof.

[0258] Reference is now made to FIGS. 29A and 29B. FIG. 29A is aschematic illustration of a stereoscopic imaging apparatus in a rightside detection mode, generally referenced 1150, constructed andoperative in accordance with another embodiment of the disclosedtechnique. FIG. 29B is a schematic illustration of the apparatus of FIG.29A, in a left side detection mode.

[0259] Apparatus 1150 includes a periscope assembly 1152, a multipleaperture 1154, an optical assembly 1156, a light sensor array 1158, acontroller 1160, a storage unit 1162 and an image processor 1164.Periscope assembly 1152 includes a right mirror 1166, a left mirror1168, a right center mirror 1170 and a left center mirror 1172. Multipleaperture 1154 includes a right aperture 1174 _(R) and a left aperture1174 _(L). Multiple aperture 1154 is similar to multiple aperture 804,as described herein above in connection with FIG. 20A.

[0260] Periscope assembly 1152 is located between a three-dimensionalobject 1176 and multiple aperture 1154. Multiple aperture 1154 islocated between periscope assembly 1152 and optical assembly 1156.Multiple aperture 1154 is located substantially close to periscopeassembly 1152. Optical assembly 1156 is located between multipleaperture 1154 and light sensor array 1158. Multiple aperture 1154, lightsensor array 1158, controller 1160, storage unit 1162 and imageprocessor 1164, are interconnected via a bus 1186. Controller 1160controls multiple aperture 1154, such that right aperture 1174 _(R) andleft aperture 1174 _(L) alternately open and close.

[0261] With reference to FIG. 29A, controller 1160 controls multipleaperture 1154, such that right aperture 1174 _(R) is open and leftaperture 1174 _(L) is closed. Right mirror 1166 receives light beams1178 and 1180 as reflected from three-dimensional object 1176. Leftmirror 1168 receives light beams 1182 and 1184 as reflected fromthree-dimensional object 1176. Right center mirror 1170 reflects thereflection of light beams 1178 and 1180 toward right aperture 1174 _(R).Since right aperture 1174 _(R) is open, light beams 1178 and 1180 passthrough right aperture 1174 _(R), reach light sensor array 1158 throughoptical assembly 1156. Controller 1160 enables light sensor array 1158to detect a right side view image of three-dimensional object 1176,according to the state of multiple aperture 1154 (i.e., when rightaperture 1174 _(R) is open). Controller 1160 stores this right side viewimage in storage unit 1162. Since left aperture 1174 _(L) is closed,light beams 1182 and 1184 which are reflected by left mirror 1168 andleft center mirror 1172, are blocked and do not reach light sensor array1158.

[0262] With reference to FIG. 29B, controller 1160 controls multipleaperture 1154, such that right aperture 1174 _(R) is closed and leftaperture 1174 _(L) is open. Light beams 1182 and 1184 reach light sensorarray 1158, after reflections from left mirror 1168 and left centermirror 1172 and after passing through left aperture 1174 _(L) andoptical assembly 1156. Controller 1160 enables light sensor array 1158to detect a left side view image of three-dimensional object 1176,according to the state of multiple aperture 1154 (i.e., when leftaperture 1174 _(L) is open). Controller 1160 stores this left side viewimage in storage unit 1162. Since right aperture 1174 _(R) is closed,light beams 1178 and 1180 which are reflected by right mirror 1166 andright center mirror 1170, are blocked and do not reach light sensorarray 1158. Controller 1160 alternately stores right and left side viewimages of three-dimensional object 1176 in storage unit 1162, accordingto the state of multiple aperture 1154. Image processor 1164 produces avideo signal for a stereoscopic display, such as stereoscopic display214 (FIG. 2), by retrieving these images from storage unit 1162 andprocessing them.

[0263] Alternatively, multiple aperture 1154 is located betweenthree-dimensional object 1176 and periscope assembly 1152. In this case,right mirror 1166 receives a right side view image of three-dimensionalobject 1176 only when right aperture 1174 _(R) is open. Similarly, leftmirror 1168 receives the left side view image of three-dimensionalobject 1176, only when left aperture 1174 _(L) is open. Multipleaperture 1154 is located substantially close to periscope assembly 1152.

[0264] Alternatively, an illuminator similar to illuminator 830 (FIG.20A) is employed, in order to sequentially illuminate thethree-dimensional object by red, green and blue light. The operation ofthe illuminator is controlled by a controller. In this case, when theright aperture is open, the light sensor array sequentially detects theright side view image of the three-dimensional object, in red, green andblue colors. The controller sequentially stores the red, green and blueframes of the right side view image of the object in the storage unit.When the left aperture is open, the light sensor array sequentiallydetects the left side view image of the three-dimensional object, inred, green and blue colors. The controller sequentially stores the red,green and blue frames of the left side view image of the object in thestorage unit. The image processor, then produces a video signalrespective of the full-color right side view image and the full-colorleft side view image of the object and a stereoscopic display displays astereoscopic image of the object in full color.

[0265] It is noted that the illuminator can emit light in the visiblerange of wavelengths, as well as in the invisible range of wavelengths.In addition, the wavelength of light emitted by the illuminator can begenerally discrete (e.g., green light is emitted either at 500 nm, 525nm, 542 nm, and so on).

[0266] According to another aspect of the disclosed technique, imagedifferentiation is performed sequentially by filtering light atdifferent sets of wavelengths for each of the right side image and theleft side image. According to one embodiment two different lightfilters, a right side filter and a left side filter, are placed betweena three-dimensional object and an image detector. The right side filteradmits light at one set of ranges of wavelengths and the left sidefilter admits light at another set of ranges of wavelengths. The twosets of ranges of wavelengths are mutually exclusive. The right sidefilter receives a right side view image of the three-dimensional objectand the left side filter receives a left side view image of thethree-dimensional object.

[0267] The three-dimensional object is sequentially illuminated with twogroups of wavelengths. The first group of wavelengths is included onlyin the set of ranges of wavelengths of right side filter. The secondgroup of wavelengths is included only in the set of ranges ofwavelengths of the left side filter.

[0268] When the object is illuminated with first group of wavelengths,the right side filter passes a right side image to the image detector,while the left side filter blocks these wavelengths. Similarly, when theobject is illuminated with second group of wavelengths, the left sidefilter passes a left side image to the image detector, while the rightside filter blocks these wavelengths.

[0269] Reference is now made to FIGS. 30A and 30B. FIG. 30A is aschematic illustration of a stereoscopic imaging apparatus in a rightside filter mode, generally referenced 1200, constructed and operativein accordance with a further embodiment of the disclosed technique. FIG.30B is a schematic illustration of the apparatus of FIG. 30A, in a leftside filter mode.

[0270] Apparatus 1200 includes a right side filter 1202, a left sidefilter 1204, a periscope assembly 1206, an optical assembly 1208, alight sensor array 1210, an illuminating unit 1240, a controller 1216, astorage unit 1218 and an image processor 1220. Periscope assembly 1206includes a right mirror 1222, a left mirror 1224, a right center mirror1226 and a left center mirror 1228. Illuminating unit 1240 includesilluminators 1212 and 1214. Right side filter 1202 is a light filter,which admits light only in red, green and blue ranges of wavelengthsΔR₁, ΔG₁ and ΔB₁, respectively. Left side filter 1204 is a light filterwhich admits light only in red, green and blue ranges of wavelengthsΔR₂, ΔG₂ and ΔB₂, respectively, where the ranges of wavelengths ΔR₁, ΔG₁and ΔB₁ and the ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂ do not overlap.Illuminator 1212 emits light at the group of wavelengths R₁, G₁ and B₁(i.e., RGB₁), which are is included in the ranges of wavelengths ΔR₁,ΔG₁ and ΔB₁ and excluded from the ranges of wavelengths ΔR₂, ΔG₂ andΔB₂. Illuminator 1214 emits light at the group of wavelengths R₂, G₂ andB₂ (i.e., RGB₂), which is included in the ranges of wavelengths ΔR₂, ΔG₂and ΔB₂ and excluded from the ranges of wavelengths ΔR₁, ΔG₁ and ΔB₁.Thus, illuminating unit 1240 sequentially emits light at the group ofwavelengths RGB₁ and RGB₂. It is noted that R₁ refers to one wavelengthor more, which are included in the red wavelength range R, arrangedcontinuously, discretely or in a mixed fashion. The same applies to R₂with respect to R, G₁ and G₂ with respect to the green wavelength rangeG and B₁ and B₂ with respect to the blue wavelength range B. Thisapplies to all types of wavelength differentiators which shall bedisclosed further below.

[0271] In the example set forth in FIGS. 30A and 30B, each ofilluminators 1212 and 1214 emits light in the visible range (i.e.,different wavelengths of red, green and blue). Accordingly, each ofright side filter 1202 and left side filter 1204 admits light indifferent ranges of red, green and blue, which include the red, greenand blue wavelengths of right side filter 1202 and left side filter1204, respectively. Alternatively, each of the illuminators emits lightin the invisible range, such as infrared, and the like, and each of theright side filter and the left side filter admits light in differentranges of wavelengths corresponding to the wavelengths of light emittedby the illuminators.

[0272] Right side filter 1202 and left side filter 1204 are locatedbetween a three-dimensional object 1230 and periscope assembly 1206.Optical assembly 1208 is located between periscope assembly 1206 andlight sensor array 1210. Light sensor array 1210, controller 1216,storage unit 1218 and image processor 1220 are interconnected via a bus1268. Illuminating unit 1240 is coupled with controller 1216.

[0273] With reference to FIG. 30A, controller 1216 controls illuminatingunit 1240, to illuminate three-dimensional object 1230 at the group ofwavelengths RGB₁. Three-dimensional object 1230 reflects the light atthe group of wavelengths RGB₁ toward right side filter 1202, as lightbeams 1232 and 1234 and toward left side filter 1204, as light beams1236 and 1238. Light beams 1232 and 1234 include information respectiveof a right side view image of three-dimensional object 1230. Light beams1236 and 1238 include information respective of a left side view imageof three-dimensional object 1230. Since right side filter 1202 admitslight in the ranges of wavelengths ΔR₁, ΔG₁ and ΔB₁, and the group ofwavelengths RGB₁ is included in the ranges of wavelengths ΔR₁, ΔG₁ andΔB₁, light beams 1232 and 1234 pass through right side filter 1202 andreach right mirror 1222.

[0274] Right center mirror 1226 reflects the reflection of light beams1232 and 1234 from right mirror 1222, to optical assembly 1208. Opticalassembly 1208 focuses light beams 1232 and 1234 on light sensor array1210. Thus, when illuminating unit 1240 emits light at the group ofwavelengths RGB₁ the right side view image of three-dimensional object1230 at the group of wavelengths RGB₁ reaches light sensor array 1210.It is noted that since the group of wavelengths RGB₁ is not included inany of the ranges of wavelengths at which left side filter 1204 admitslight, left side filter 1204 blocks light beams 1236 and 1238, and thatthe left side view image of three-dimensional object 1230 does not reachlight sensor array 1210 at this stage. Controller 1216 stores this rightside view image of three-dimensional object 1230, in storage unit 1218.

[0275] With reference to FIG. 30B, controller 1216 controls illuminatingunit 1240, to illuminate three-dimensional object 1230 at the group ofwavelengths RGB₂. Three-dimensional object 1230 reflects the light atthe group of wavelengths RGB₂ toward left side filter 1204, as lightbeams 1264 and 1266 and toward right side filter 1202, as light beams1260 and 1262. Light beams 1264 and 1266 include information respectiveof a left side view image of three-dimensional object 1230. Light beams1260 and 1262 include information respective of a right side view imageof three-dimensional object 1230. Since left side filter 1204 admitslight in the ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂, and the group ofwavelengths RGB₂ is included in the ranges of wavelengths ΔR₂, ΔG₂ andΔB₂, light beams 1264 and 1266 pass through left side filter 1204 andreach left mirror 1224.

[0276] Left center mirror 1228 reflects the reflection of light beams1264 and 1266 from left mirror 1224, to optical assembly 1208. Opticalassembly 1208 focuses light beams 1264 and 1266 on light sensor array1210. Thus, when illuminating unit 1240 emits light at the group ofwavelengths RGB₂ the left side view image of three-dimensional object1230 at the group of wavelengths RGB₂ reaches light sensor array 1210.Since the group of wavelengths RGB₂ is not included in any of the rangesof wavelengths at which right side filter 1202 admits light, right sidefilter 1202 blocks light beams 1260 and 1262, and the right side viewimage of three-dimensional object 1230 does not reach light sensor array1210 at this stage. Controller 1216 stores this left side view image ofthree-dimensional object 1230, in storage unit 1218.

[0277] Image processor 1220 retrieves the right side and the left sideview images of three-dimensional object 1230, from storage unit 1218 andproduces stereoscopic images of three-dimensional object 1230, byprocessing the right side and the left side view images. It is notedthat in the example set forth in FIGS. 30A and 30B, light sensor array1210 is a color light detector.

[0278] Alternatively, in a system which includes a full range lightsensor array, the controller controls the operation of the illuminatingunit, to sequentially emit light at individual groups of wavelengths R₁,R₂, G₁, G₂, B₁ and B₂. In this case, the right side filter admits asequence of right side view images of the three-dimensional object, ineach of the ranges of wavelengths R₁, G₁ and B₁, and then the left sidefilter admits a sequence of left side view images of thethree-dimensional object, in each of the wavelengths R₂, G₂ and B₂. Foreach cycle in the illumination sequence, the controller enables thelight sensor array to detect six images of the three-dimensional object.Three of these images are right side view images, each at a differentone of the groups of wavelengths R₁, G₁ and B₁. The other three imagesare left side view images, each at a different one of the groups ofwavelengths R₂, G₂ and B₂. It is noted that other sequences of R₁, R₂,G₁, G₂, B₁ and B₂, as well as other divisions of light (e.g., CYMG₁ andCYMG₂) are applicable.

[0279] In the example set forth in FIGS. 30A and 30B, system 1200 isconstructed to operate in the visible range. Alternatively, a systemaccording to another embodiment can be constructed to operate in theinvisible range, such as infrared (far and near), ultra-violet, and thelike. Alternatively, each of the illuminators 1212 and 1214 can includeseveral light sources, each at a different group of wavelengths (e.g.,an illuminator for each of ΔR₁, ΔG₁, ΔB₁, ΔR₂, ΔG₂ and ΔB₂). It is notedthat this aspect of the disclosed technique, can be limited to a singlerange for each channel (i.e., blue for the right channel and red for theleft channel).

[0280] Alternatively, the right side filter and the left side filter arelocated between the periscope assembly and the optical assembly. In thiscase, the right side filter receives a right side view image of thethree-dimensional object from the right center mirror, and the left sidefilter receives a left side view image of the three-dimensional objectfrom the left center mirror.

[0281] Alternatively, a rotating disk is placed in front of theperiscope assembly and an illuminator constantly emits light. Half ofthe rotating disk is transparent and the other half is opaque. Thus, asthe rotating disk rotates, the periscope assembly alternately receivesthe right side and the left side view images of the three-dimensionalobject and directs these images to the light sensor array.

[0282] With reference to FIG. 30A, a partially-transparent rotating diskreplaces right side filter 1202 and left side filter 1204. Furthermore,an illuminator which provides light in a predetermined range ofwavelengths, replaces illuminating unit 1240. The partially-transparentrotating disk is divided into a transparent portion and an opaqueportion, as described herein below in connection with FIGS. 39A and 39B.

[0283] When the transparent portion of the partially-transparentrotating disk is located above the right mirror, the right mirrorreceives a right side view image of the three-dimensional object and theopaque portion of the partially-transparent rotating disk blocks thelight to the left mirror. When the transparent portion of thepartially-transparent rotating disk is located above the left mirror,the left mirror receives a left side view image of the three-dimensionalobject and the opaque portion of the partially-transparent rotating diskblocks the light to the right mirror. The controller enables the lightsensor array to alternately detect a right side view image and a leftside view image of the three-dimensional object, according to theposition of the transparent portion relative to the right mirror and theleft mirror. The controller alternately stores the right side viewimages and the left side view images in the storage unit. The imageprocessor concurrently retrieves the right side view images and leftside view images of the three-dimensional object, processes these imagesand provides a respective video signal to a stereoscopic display, suchas stereoscopic display 214 (FIG. 2).

[0284] Alternatively, a rotating disk is placed in front of theperiscope assembly and a multi-wavelength illuminator sequentially emitslight in different ranges of wavelengths. Half of the rotating disk istransparent and the other half is opaque. As the rotating disk rotates,the periscope assembly receives a sequence of right side and left sideview images of the three-dimensional object, in different ranges ofwavelengths and directs these images to the light sensor array. Thisembodiment is similar to the embodiments described herein above inconnection with FIGS. 14B, 20A and 20B.

[0285] With reference to FIG. 30A, a partially-transparent rotating diskreplaces right side filter 1202 and left side filter 1204. Furthermore,a multi-wavelength illuminator which sequentially emits light indifferent ranges of wavelengths, replaces illuminating unit 1240. Halfof the partially-transparent rotating disk is transparent and the otherhalf is opaque. The partially-transparent rotating disk is coupled withthe controller. The controller controls the operation of themulti-wavelength illuminator, to sequentially emit light in differentranges of wavelengths. As the partially-transparent rotating diskrotates, the transparent portion alternately covers the right mirror andthe left mirror. The controller enables the light sensor array to detecteach of the right side and the left side view images of thethree-dimensional object, in these different ranges of wavelengths,according to the angular position of the partially-transparent rotatingdisk and the state of the multi-wavelength illuminator. The controllerstores these images in the storage unit.

[0286] For example, when the multi-wavelength illuminator sequentiallyilluminates the three-dimensional object in red, green and blue (i.e.,RGB), and the transparent portion is located above the right mirror, thelight sensor array detects a sequence of images in red, green and blue.According to the position of the partially-transparent rotating disk andthe state of the multi-wavelength illuminator, the controller determinesthat these images are right side view images of the three-dimensionalobject, in red, green and blue, respectively. The controller storesthese images in the storage unit.

[0287] The light sensor array detects right side view images when thetransparent portion is located above the right mirror. The light sensorarray detects left side view images when the transparent portion islocated above the left mirror. The controller tags each of these imagesaccording to the state of multi-wavelength illuminator (e.g., red, greenand blue) at the time when each of these images was captured. Accordingto a simple setting, at a given time period, the stereoscopic imagingapparatus produces six images, three for each side, two for each color(e.g., a left side blue image, a left side green image, a left side redimage, a right side blue image, a right side green image and a rightside red image).

[0288] Alternatively, a rotating disk having an opaque portion and amulti-wavelength transparent portion, is placed in front of theperiscope assembly and an illuminator illuminates the three-dimensionalobject. As the rotating disk rotates, the periscope assembly receives asequence of right side and left side view images of thethree-dimensional object, in different ranges of wavelengths and directsthese images to the light sensor array. This embodiment is similar tothe embodiments described herein above in connection with FIGS. 14B, 20Aand 20B.

[0289] With reference to FIG. 30A, a multi-wavelength rotating diskreplaces right side filter 1202 and left side filter 1204, and anilluminator replaces illuminating unit 1240. The multi-wavelengthrotating disk is divided to an opaque portion and to a transparentportion. The transparent portion is divided to substantially equalfiltering sectors, each filtering sector being in a different color, asdescribed herein below in connection with FIG. 40A. Alternatively, themulti-wavelength rotating disk is alternately divided into opaquesectors and filtering sectors, wherein each filtering sector is in adifferent predetermined range of wavelengths, as described herein belowin connection with FIG. 40B. The multi-wavelength rotating disk iscoupled with the controller.

[0290] The illuminator provides light at least in the predeterminedranges of wavelengths as defined by the filtering sectors. As themulti-wavelength rotating disk rotates, the light sensor array detects asequence of images. The controller determines the type of each of theseimages (i.e., either right side view image or left side view image) andthe range of wavelengths of each of these images, according to theposition of the multi-wavelength rotating disk.

[0291] According to another aspect of the disclosed technique, a pair ofpolarizers direct an image from one side of a three-dimensional objectto an image detector, when both polarizers are oriented at the sameangle, while another pair of polarizers block an image from another sideof the object, when the polarizers are oriented 90 degrees apart. Therelative polarization angles between the two polarizers in each pair isalternately changed to be either zero or 90 degrees. Thus, the imagedetector alternately receives images from different sides of thethree-dimensional object.

[0292] Reference is now made to FIGS. 31A and 31B. FIG. 31A is aschematic illustration of a stereoscopic imaging apparatus in a rightside view image mode, generally referenced 1300, constructed andoperative in accordance with another embodiment of the disclosedtechnique. FIG. 31B is a schematic illustration of the apparatus of FIG.30A, in a left side view image mode.

[0293] Apparatus 1300 includes a periscope assembly 1302, a rightpolarizer 1304, a left polarizer 1306, a main polarizer 1308, an opticalassembly 1310, a light sensor array 1312, a controller 1314, a storageunit 1316 and an image processor 1318. Periscope assembly 1302 includesa right mirror 1320, a left mirror 1322, a right center mirror 1324 anda left center mirror 1326.

[0294] Each of right polarizer 1304, left polarizer 1306 and mainpolarizer 1308 is an optical element which admits light only at apredetermined direction of polarization. In the following example, thepolarization angle of the incident light beam is zero degrees, and thepolarizer is rotated by 45 degrees relative to this polarization angle.The light vector, having a length of L and being set at zero angle, canbe described as a vectorial combination of two vectors, each at a length{square root}{square root over (2)} L, one directed at 45 degrees andthe other directed at −45 degrees. The polarizer admits the vector whichis directed at 45 degrees and blocks the vector which is directed at −45degrees. The polarization angle of a polarizer can be changedelectronically. The polarization angle of right polarizer 1304 and leftpolarizer 1306 is fixed, whereas the polarization angle of mainpolarizer 1308 can be changed. In the example set forth in FIG. 31A, thepolarization angle of left polarizer 1306 is approximately 90 degreesrelative to the polarization angle of right polarizer 1304 and thepolarization angle of main polarizer 1308 is approximately the same asthat of right polarizer 1304. Thus, main polarizer 1308 admits light,which exits right polarizer 1304 and blocks light which exits leftpolarizer 1306. In the example set forth in FIG. 31B, the polarizationangle of main polarizer 1308 is approximately 90 degrees relative toright polarizer 1304. In this case, main polarizer 1308 admits lightwhich exits left polarizer 1306 and blocks light which exits rightpolarizer 1304.

[0295] With reference to FIGS. 31A and 31B, periscope assembly 1302 islocated between a three-dimensional object 1328 on one side and rightpolarizer 1304 and left polarizer 1306 on the other side. Rightpolarizer 1304 and left polarizer 1306 are located side by side betweenperiscope assembly 1302 and optical assembly 1310. Main polarizer 1308is located between optical assembly 1310 and light sensor array 1312.Main polarizer 1308, light sensor array 1312, controller 1314, storageunit 1316 and image processor 1318 are interconnected via a bus 1338.Controller 1314 controls the polarization angle of main polarizer 1308.

[0296] In the example set forth in FIG. 31A, the polarization angle ofmain polarizer 1308 is substantially the same as that of right polarizer1304 and 90 degrees relative to left polarizer 1306. Right mirror 1320receives a right side view image of three-dimensional object 1328, vialight beams 1330 and 1332. Left mirror 1322 receives a left side viewimage of three-dimensional object 1328, via light beams 1334 and 1336.Right center mirror 1324 reflects the reflection of light beams 1330 and1332 from right mirror 1320, toward optical assembly 1310. Left centermirror 1326 reflects the reflection of light beams 1334 and 1336 fromleft mirror 1322, toward optical assembly 1310.

[0297] Optical assembly 1310 focuses light beams 1330, 1332, 1334 and1336 on light sensor array 1312. Since the polarization angles of rightpolarizer 1304 and left polarizer 1306 are approximately 90 degreesapart, main polarizer 1308 blocks light beams 1334 and 1336. Since thepolarization angle of main polarizer 1308 is approximately the same asthat of right polarizer 1304, main polarizer 1308 passes light beams1330 and 1332 toward light sensor array 1312. Controller 1314 enableslight sensor array 1312 to detect a right side view image ofthree-dimensional object 1328, according to the polarization angle mainpolarizer 1308. Controller 1314 stores this right side view image instorage unit 1316.

[0298] With reference to FIG. 31B, the polarization angle of mainpolarizer 1308 is substantially the same as that of left polarizer 1306and 90 degrees relative to right polarizer 1304. In this case, mainpolarizer 1308 blocks light beams 1330 and 1332, and passes light beams1334 and 1336 toward light sensor array 1312. Controller 1314 enableslight sensor array 1312 to detect a left side view image ofthree-dimensional object 1328, according to the polarization angle ofmain polarizer 1308. Controller 1314 stores this left side view image instorage unit 1316. Image processor 1318 concurrently retrieves the rightside view images and the left side view images of three-dimensionalobject 1328, processes these images and provides a respective videosignal to a stereoscopic display, such as stereoscopic display 214 (FIG.2).

[0299] Alternatively, a rotating polarizing disk replaces rightpolarizer 1304 and left polarizer 1306. The rotating polarizing disk isdivided to two polarizing sections. The polarization angle of the firstsection is substantially equal to the polarization angle of the mainpolarizer and the polarization angle of the second section is away fromthe polarization angle of the main polarizer, by substantially 90degrees. It is noted that certain limitations may apply to such arotating polarizing disk, whereas the polarizers on the disk physicallyrotate. Accordingly, the rotating polarizing disk may include dynamicpolarizers, which change according to the angular position of therotating polarizing disk. Alternatively, the rotating polarizing disk isstopped or slowed down at predetermined angular positions, when an imageis acquired.

[0300] It is noted that different structures of polarizers can be usedfor separating the images. Such structures include active and passivepolarizers, located at various positions such as between the object andthe periscope assembly, between the periscope assembly and the opticalassembly and between the optical assembly and the light sensor array.The following are mere examples for such structures of polarizes.

[0301] Alternatively, main polarizer 1308 is located betweenthree-dimensional object 1328 and periscope assembly 1302, while rightpolarizer 1304 and left polarizer 1306 are located between periscopeassembly 1302 and optical assembly 1310. Further alternatively, rightpolarizer 1304 and left polarizer 1306 are located betweenthree-dimensional object 1328 and periscope assembly 1302, while mainpolarizer 1308 is located between periscope assembly 1302 and opticalassembly 1310.

[0302] Yet further alternatively, right polarizer 1304 and leftpolarizer 1306 are located between three-dimensional object 1328 andperiscope assembly 1302, while main polarizer 1308 is located betweenoptical assembly 1310 and light sensor array 1312. Still furtheralternatively, main polarizer 1308 is located between periscope assembly1302 and optical assembly 1310, while right polarizer 1304 and leftpolarizer 1306 are located between optical assembly 1310 and lightsensor array 1312. Yet further alternatively, main polarizer 1308 islocated between three-dimensional object 1328 and periscope assembly1302, while right polarizer 1304 and left polarizer 1306 are locatedbetween optical assembly 1310 and light sensor array 1312.

[0303] Still further alternatively, right polarizer 1304 and leftpolarizer 1306 are located between three-dimensional object 1328 andmain polarizer 1308. Main polarizer 1308 is located between rightpolarizer 1304 and left polarizer 1306 on one side and periscopeassembly 1302 on the other side.

[0304] Yet further alternatively, main polarizer 1308 is located betweenthree-dimensional object 1328 on one side and right polarizer 1304 andleft polarizer 1306 on the other side. Right polarizer 1304 and leftpolarizer 1306 are located between main polarizer 1308 and periscopeassembly 1302.

[0305] Still further alternatively, right polarizer 1304 and leftpolarizer 1306 are located between periscope assembly 1302 and mainpolarizer 1308. Main polarizer 1308 is located between right polarizer1304 and left polarizer 1306 on one side and optical assembly 1310 onthe other side.

[0306] Yet further alternatively, main polarizer 1308 is located betweenperiscope assembly 1302 on one side and right polarizer 1304 and leftpolarizer 1306 on the other side. Right polarizer 1304 and leftpolarizer 1306 are located between main polarizer 1308 and opticalassembly 1310.

[0307] Still further alternatively, right polarizer 1304 and leftpolarizer 1306 are located between optical assembly 1310 and mainpolarizer 1308. Main polarizer 1308 is located between right polarizer1304 and left polarizer 1306 on one side and light sensor array 1312 onthe other side.

[0308] Yet further alternatively, main polarizer 1308 is located betweenoptical assembly 1310 on one side and right polarizer 1304 and leftpolarizer 1306 on the other side. Right polarizer 1304 and leftpolarizer 1306 are located between main polarizer 1308 and light sensorarray 1312.

[0309] Further alternatively, the polarization angle of main polarizer1308 is fixed and the polarization angle of right polarizer 1304 andleft polarizer 1306 can be changed. In this case, controller 1314 iscoupled with right polarizer 1304 and left polarizer 1306 instead ofmain polarizer 1308 and hence, controller 1314 controls the angle ofboth right polarizer 1304 and left polarizer 1306. The polarizationangles of right polarizer 1304 and left polarizer 1306 are changedsubstantially simultaneously and alternately by substantially 90 degreeseach time, while the angle there between is substantially 90 degrees atall times.

[0310] According to another aspect of the disclosed technique, the imagedifferentiator includes a combination of polarizers and polarizationrotating cells. Each polarization rotating cell sequentially changes thepolarization angle of light which exits each of two polarizers.

[0311] According to one embodiment, the image differentiator includes afront right polarizer, a front left polarizer, a polarization rotatingcell and a main polarizer. The front right polarizer and the front leftpolarizer are located in the right channel and the left channel,respectively. The polarization rotating cell is located in the commonpath. The main polarizer is located in the common path between thepolarization rotating cell and the light sensor array. The polarizationangle of the front right polarizer is substantially equal to thepolarization angle of the main polarizer, while the polarization angleof the front left polarizer is approximately 90 degrees away from thatof the main polarizer. The polarization rotating cell receives lightfrom both the front right polarizer and the front left polarizer. Thepolarization rotating cell is coupled with the controller.

[0312] A polarization rotating cell is generally in form of a crystalwhich changes the polarization angle of the incoming light by a selectedvalue. In the present example, the polarization rotating cell alternatesbetween two states. At the first state, the polarization rotating cellrotates any light incident thereon by a zero angle, thereby leaving thepolarization angle of that incident light, unchanged. At the secondstate, the polarization rotating cell rotates any light incidentthereon, by a substantially right angle (i.e., 90 degrees).

[0313] When the polarization rotating cell is in the first state, thepolarization rotating cell leaves the polarization of the light exitingthe front right polarizer and the front left polarizer unchanged. Sincethe polarization of the front right polarizer is substantially equal tothe polarization of the main polarizer, the main polarizer admits thelight which previously exited the front right polarizer. Since thepolarization of the front left polarizer is substantially rotated at 90degrees away from the polarization of the main polarizer, the mainpolarizer blocks the light which previously exited the front leftpolarizer. Thus, the main polarizer admits the right side view image ofthe three-dimensional object to the light sensor array, while the mainpolarizer blocks the left side view image of the three-dimensionalobject.

[0314] When the polarization rotating cell is in the second state, thepolarization rotating cell rotates the polarization of the lightreceived from the front right polarizer and from the front leftpolarizer, by substantially 90 degrees. In this case, the polarizationof the light which previously exited the front left polarizer, isrotated to be substantially equal to the polarization angle of the mainpolarizer. Furthermore, the polarization of the light which exited thefront right polarizer is rotated to be at substantially 90 degrees awayfrom the polarization of the main polarizer. The main polarizer admitsthe light which previously exited the front left polarizer, while themain polarizer blocks the light which previously exited the front rightpolarizer. Thus, the main polarizer admits the left side view image ofthe three-dimensional object to the light sensor array, while the mainpolarizer blocks the right side view image of the three-dimensionalobject. The controller enables the light sensor array to detect theright side view image and the left side view image of thethree-dimensional object, according to the rotating state of thepolarization rotating cell.

[0315] According to another embodiment, a right polarization rotatingcell is located between the front right polarizer and the mainpolarizer, in the right channel and a left polarization rotating cell islocated between the front left polarizer and the main polarizer, in theleft channel. The main polarizer is located in the common path, betweenthe right polarization rotating cell and the left polarization rotatingcell on one side and the light sensor array on the other. The frontright polarizer, the front left polarizer and the main polarizer arestatic polarizers. The polarization angles of the front right polarizer,the front left polarizer and the main polarizer are substantially equal.The right polarization rotating cell and the left polarization rotatingcell are coupled with the controller, which alternately provides twostates of operation.

[0316] In the first state of operation, the controller sets the rotationangle of the right polarization rotating cell to zero degrees and therotation angle of the left polarization rotating cell to 90 degrees.Accordingly, the polarization of the light which previously exited thefront right polarizer remains substantially unchanged, while thepolarization of the light which previously exited the front leftpolarizer is changed by a substantially right angle. The main polarizeradmits the light which previously exited the front right polarizer,while the main polarizer blocks the light previously exited the frontleft polarizer. Thus, the main polarizer admits the right side viewimage of the three-dimensional object to the light sensor array, whileblocking the left side view image of the three-dimensional object.

[0317] In the second state of operation, the controller sets therotation angle of the left polarization rotating cell to zero degreesand the rotation angle of the right polarization rotating cell to 90degrees. Accordingly, the polarization of the light which previouslyexited the front left polarizer remains substantially unchanged, whilethe polarization of the light which previously exited the front rightpolarizer is changed by substantially 90 degrees. The main polarizeradmits the light which previously exited the front left polarizer, whilethe main polarizer blocks the light previously exited the front rightpolarizer. Thus, the main polarizer admits the left side view image ofthe three-dimensional object to the light sensor array, while the mainpolarizer blocks the right side view image of the three-dimensionalobject. The controller enables the light sensor array to detect theright side view image and the left side view image of thethree-dimensional object, according to the rotating states of the rightpolarization rotating cell and the left polarization rotating cell.

[0318] According to another embodiment, the main polarizer iseliminated, the front right polarizer and the front left polarizer arestatic polarizers and the polarization angle of the front rightpolarizer is substantially 90 degrees away from the polarization angleof the front left polarizer. In addition a polarized light source isemployed, which is coupled with the controller. The polarized lightsource alternately illuminates the three-dimensional object with lightat a first polarization angle and at a second polarization angle. Thefirst polarization angle of the illuminating light is substantiallyequal to the polarization angle of the front right polarizer and thesecond polarization angle of the illuminating light is substantiallyequal to the polarization angle of the front left polarizer.

[0319] When the polarized light source illuminates the three-dimensionalobject at the polarization angle of the front right polarizer, theperiscope assembly directs the right side view image of thethree-dimensional object to the front right polarizer, substantially atthe polarization angle of the front right polarizer. Simultaneously, theperiscope assembly directs the left side view image of thethree-dimensional object to the front left polarizer, substantially atthe polarization angle of the front right polarizer. Since thepolarization angle of the right side view image is substantially equalto the polarization angle of the front right polarizer, the front rightpolarizer admits the right side view image of the three-dimensionalobject to the light sensor array, through the optical assembly. Sincethe polarization angle of the left side view image is substantially 90degrees away from the polarization angle of the front left polarizer,the front left polarizer blocks the left side view image of thethree-dimensional object.

[0320] When the polarized light source illuminates the three-dimensionalobject at the polarization angle of the front left polarizer, theperiscope assembly directs the left side view image of thethree-dimensional object to the front left polarizer, substantially atthe polarization angle of the front left polarizer. Simultaneously, theperiscope assembly directs the right side view image of thethree-dimensional object to the front right polarizer, substantially atthe polarization angle of the front left polarizer. Since thepolarization angle of the left side view image is substantially equal tothe polarization angle of the front left polarizer, the front leftpolarizer admits the left side view image of the three-dimensionalobject to the light sensor array, through the optical assembly. Sincethe polarization angle of the right side view image is substantially 90degrees away from the polarization angle of the front right polarizer,the front right polarizer blocks the left side view image of thethree-dimensional object. The controller enables the light sensor arrayto detect the right side view image and the left side view image of thethree-dimensional object, according to the illuminating state of thepolarized light source.

[0321] It is noted that in this case, the three-dimensional object isilluminated only with light at a selected polarization angle at eachstate of the polarized light source. Thus, the three-dimensional objectis heated substantially less and the physical properties thereof remainsubstantially stable.

[0322] Reference is now made to FIG. 32, which is a schematicillustration of a method for operating a stereoscopic imaging apparatus,operative in accordance with another embodiment of the disclosedtechnique. In step 1400, two images are received from different sides ofan object, through two spaced apart apertures. With reference to FIG.28A, periscope assembly 1102 receives a right side view image and a leftside view image of three-dimensional object 1118.

[0323] In step 1402, the two received images are directed to a commonpath. With reference to FIG. 28A, periscope assembly 1102 directs theright side view image as light beams 1120C and 1122C, and the left sideview image as light beams 1124C and 1126C, through optical assembly1104, to lenticular lens layer 1106.

[0324] In step 1404, the two received images are differentiated. Withreference to FIG. 28A, lenticular lens layer 1106 differentiates betweenthe right side view image and the left side view image ofthree-dimensional object 1118, and directs each differentiated image tolight sensor array 1108. Light sensor array 1108, then detects thedifferentiated images (step 1406).

[0325] According to another embodiment of the disclosed technique, theperiscope assembly moves between a retracted position and an extendedposition. Thus, the endoscope is entered into the body of the patientwhile the periscope assembly is retracted, thereby assuming a narrowshape, capable of entering through narrow passages. When the endoscopeis located in a selected region within the body of the patient, theperiscope assembly moves to an extended position, thereby separatingapart the apertures which receive a right side view and a left side viewof the selected region. The periscope, then transfers substantiallydistinct right side view and left side view images of the selectedregion, to an image detector via an optical assembly.

[0326] Reference is now made to FIGS. 33A and 33B. FIG. 33A is aschematic illustration of an endoscope with a periscope assembly thereofin a retracted mode, generally referenced 1450, constructed andoperative in accordance with a further embodiment of the disclosedtechnique. FIG. 33B is a schematic illustration of the periscope of theendoscope of FIG. 33A, in an extended mode.

[0327] Endoscope 1450 includes a periscope assembly 1452, an opticalassembly 1454, a lenticular lens layer 1456, and a light sensor array1458. Periscope assembly 1452 includes a right mirror 1460, a leftmirror 1462, a right center mirror 1464, a left center mirror 1466, andhinges 1468, 1470 and 1472. Optical assembly 1454 includes a pluralityof lenses 1474 and 1476.

[0328] Periscope assembly 1452 is located at a distal end 1478 ofendoscope 1450. Optical assembly 1454 is located between periscopeassembly 1452 and lenticular lens array 1456. Lenticular lens array 1456is located between optical assembly 1454 and light sensor array 1458.Right mirror 1460 and left mirror 1462 can rotate about hinges 1468 and1470, respectively. Right center mirror 1464 and left center mirror 1466can rotate about hinge 1472.

[0329] With reference to FIG. 33B, right mirror 1460 and left centermirror 1466 rotate clockwise about hinges 1468 and 1472, respectively.Left mirror 1462 and right center mirror 1464 rotate counterclockwiseabout hinges 1470 and 1472, respectively. Thus, periscope assembly 1452moves to an extended position. Right mirror 1460 and left mirror 1462receive a right side view and a left side view, respectively, of athree-dimensional object 1480. Right center mirror 1464 and left centermirror 1466 reflect a right side view image and a left side view imageof three-dimensional object 1480, as reflected from right mirror 1460and left mirror 1462, respectively, to optical assembly 1454. Opticalassembly 1454 focuses the right side view image and the left side viewimage of three-dimensional object 1480, on lenticular lens layer 1456.Lenticular lens layer 1456 differentiates between the right side viewimage and the left side view image, and the respective detectionelements of light sensor array 1458 detect the right side view image andthe left side view image of three-dimensional object 1480.

[0330] Reference is now made to FIGS. 34A and 34B. FIG. 34A is aschematic illustration of an endoscope with a periscope assembly thereofin a retracted mode, generally referenced 1500, constructed andoperative in accordance with another embodiment of the disclosedtechnique. FIG. 34B is a schematic illustration of the periscopeassembly of the endoscope of FIG. 34A, in an extended mode.

[0331] Endoscope 1500 includes a periscope assembly 1502, an opticalassembly 1504, a lenticular lens layer 1506, and a light sensor array1508. Periscope assembly 1502 includes a right prism 1510, a left prism1512, a hinge 1514, a rail 1516 and a stop 1518. Optical assembly 1504includes a plurality of lenses 1520 and 1522. Each of right prism 1510and left prism 1512 is a prism whose longitudinal cross section is aparallelogram. Right prism 1510 and left prism 1512 can rotate abouthinge 1514. Hinge 1514 can slide within rail 1516 in directionsdesignated by arrows 1524 and 1526. Stop 1518 is coupled with rail 1516.Periscope assembly 1502 is located at a distal end 1528 of endoscope1500. Optical assembly 1504 is located between periscope assembly 1502and lenticular lens layer 1506. Lenticular lens layer 1506 is locatedbetween optical assembly 1504 and light sensor array 1508.

[0332] With reference to FIG. 34B, hinge 1514 slides within rail 1516 indirection 1524, surfaces 1530 and 1532 of right prism 1510 and leftprism 1512, respectively, make contact with stop 1518 and thus, rightprism 1510 and left prism 1512 move to an extended position. In thisposition, reflective surfaces 1534 and 1536 of right prism 1510 and leftprism 1512, respectively, located distal to hinge 1514, receive a rightside view image and a left side view image of a three-dimensional object1538. Reflective surface 1540 and 1542 of right prism 1510 and leftprism 1512, respectively, located proximal to hinge 1514, reflect theright side view image and the left side view image, as reflected fromreflective surfaces 1534 and 1536, respectively, to optical assembly1504.

[0333] Optical assembly 1504 focuses the right side view image and theleft side view image of three-dimensional object 1538, on lenticularlens layer 1506. Lenticular lens layer 1506 differentiates between theright side view image and the left side view image, and the respectivedetection elements of light sensor array 1508 detect the right side viewimage and the left side view image of three-dimensional object 1538.When hinge 1514 moves in direction 1526, surfaces 1530 and 1532 makecontact with stop 1518 and right prism 1510 and left prism 1512 moveback to the retracted position of FIG. 34A. It is noted that instead oflenticular lens layer 1506, other types of image differentiators can beemployed, such as a pair of filters, a multi-wavelength rotating disk, apartially-transparent rotating disk, a pair of polarizers, a multipleaperture, and the like.

[0334] Reference is now made to FIGS. 35A and 35B. FIG. 35A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 1560, constructed and operative in accordance with a furtherembodiment of the disclosed technique. FIG. 35B is a schematicillustration of the apparatus of FIG. 35A, in which the periscopeassembly thereof is in a different mode than that of FIG. 35A.

[0335] Apparatus 1560 includes a periscope assembly 1562, an opticalassembly 1564, a light sensor array 1566, a controller 1568, a storageunit 1570 and an image processor 1572. Periscope assembly 1562 includesa right mirror 1574, a left mirror 1576, a rotating mirror 1578 and ahinge 1580. One side of rotating mirror 1578 is reflective and the otherside thereof is non-reflective. Periscope assembly 1562 is locatedbetween a three-dimensional object 1582 and optical assembly 1564.Optical assembly 1564 is located between periscope assembly 1562 andlight sensor array 1566. Hinge 1580 is coupled with a moving element(not shown), such as a piezoelectric element, a pulling force of a cableagainst a spring, and the like. The moving element, light sensor array1566, storage unit 1570 and image processor 1572 are interconnected viaa bus 1592.

[0336] Right mirror 1574 is oriented at a slanted angle with respect tothree-dimensional object 1582 and at the right side of three-dimensionalobject 1582, such that right mirror 1574 receives a right side viewimage of three-dimensional object 1582. This slanted angle is preferablyclose to 45 degrees. Left mirror 1576 is oriented at another slantedangle, opposite to the slanted angle of right mirror 1574 and at theleft side of three-dimensional object 1582. Left mirror 1576 receives aleft side view image of three-dimensional object 1582.

[0337] The moving element alternately rotates rotating mirror 1578 abouthinge 1580, between two positions. At one position, rotating mirror 1578is oriented at an angle substantially parallel to the slanted angle ofright mirror 1574. In this position, the reflective side of rotatingmirror 1578 faces right mirror 1574 while the non-reflective side ofrotating mirror 1578 faces left mirror 1576. At another position,rotating mirror 1578 is oriented at an angle substantially parallel tothe slanted angle of left mirror 1576. In this position, the reflectiveside of rotating mirror 1578 faces left mirror 1576 while thenon-reflective side of rotating mirror 1578 faces right mirror 1574.

[0338] With reference to FIG. 35A, rotating mirror 1578 is oriented atan angle substantially parallel to right mirror 1574 and approximatelyat 90 degrees relative to the orientation of left mirror 1576, such thatthe reflective side of rotating mirror 1578 faces right mirror 1574.Right mirror 1574 receives light beams 1584 and 1586, which includeinformation respective of the right side view image of three-dimensionalobject 1582. Rotating mirror 1578 reflects light beams 1584 and 1586, asreflected by right mirror 1574, to optical assembly 1564. Opticalassembly 1564 focuses light beams 1584 and 1586 on light sensor array1566. Controller 1568 enables light sensor array 1566 to detect a rightside view image of three-dimensional object 1582, according to theposition of rotating mirror 1578. Controller 1568 stores this right sideview image in storage unit 1570.

[0339] Left mirror 1576 receives light beams 1588 and 1590, whichinclude information respective of the left side view image ofthree-dimensional object 1582. Since the non-reflective side of rotatingmirror 1578 is facing left mirror 1576, this non-reflective side absorbslight beams 1588 and 1590. Thus, light beams 1588 and 1590 reach neitheroptical assembly 1564 nor light sensor array 1566, nor is reflected orrefracted light incident upon the three-dimensional object 1582, andlight sensor array 1566 does not detect the left side view image ofthree-dimensional object 1582.

[0340] With reference to FIG. 35B, rotating mirror 1578 rotates 90degrees counterclockwise relative to the position illustrated in FIG.35A. In the position illustrated in FIG. 35B, rotating mirror 1578 isoriented at an angle substantially parallel to left mirror 1576 andapproximately at 90 degrees relative to the orientation of right mirror1574. The reflective side of rotating mirror 1578 faces left mirror 1576and the non-reflective side thereof faces right mirror 1574. Rotatingmirror 1578 reflects light beams 1588 and 1590, as reflected by leftmirror 1576, to optical assembly 1564. Optical assembly 1564 focuseslight beams 1588 and 1590 on light sensor array 1566. Controller 1568enables light sensor array 1566 to detect a left side view image ofthree-dimensional object 1582, according to the position of rotatingmirror 1578. Controller 1568 stores this left side view image in storageunit 1570.

[0341] Since the non-reflective side of rotating mirror 1578 faces rightmirror 1574, this non-reflective side absorbs light beams 1584 and 1586.Thus, light beams 1584 and 1586 reach neither optical assembly 1564 norlight sensor array 1566, nor is reflected or refracted light incidentupon the three-dimensional object 1582, and light sensor array 1566 doesnot detect the right side view image of three-dimensional object 1582.Rotating mirror 1578, then rotates 90 degrees clockwise to the positionillustrated in FIG. 35A and provides another right side view image ofthree-dimensional object 1582 to light sensor array 1566. Imageprocessor 1572 produces a video signal for a stereoscopic display, suchas stereoscopic display 214 (FIG. 2), by retrieving the right side andleft side view images from storage unit 1570 and processing them.

[0342] Alternatively, an optical element, such as an optical diaphragm,prism, mirror and the like, replaces rotating mirror 1578. Half of theoptical diaphragm is transparent and the other half is opaque. Theoptical diaphragm oscillates about an axis, by an electronic element,such as piezoelectric element, and the like, such that the transparentand the opaque portions of the diaphragm are alternately located aboveright mirror 1574 and left mirror 1576.

[0343] According to another aspect of the disclosed technique, twofiberscopes are employed whose inlets are substantially spaced apartrelative to the outlets thereof. One fiberscope obtains a right sideview image of the three-dimensional object, while the other fiberscopeobtains a left side view image of the three-dimensional object.

[0344] Reference is now made to FIG. 36, which is a schematicillustration of a stereoscopic imaging apparatus, generally referenced1620, constructed and operative in accordance with another embodiment ofthe disclosed technique. Apparatus 1620 includes inlet lenses 1666 and1668, a light directing assembly 1622, outlet lenses 1670 and 1672, amultiple aperture 1624, an optical assembly 1626, a light sensor array1628, a controller 1630, a storage unit 1632 and an image processor1634. Light directing assembly 1622 includes a right fiberscope 1636 anda left fiberscope 1638.

[0345] A fiberscope is a flexible longitudinal element, which isgenerally employed for obtaining an image of an object which isobstructed by other objects and can not be viewed directly. Thefiberscope includes a substantially large number of fibers. One end ofeach fiber receives the image of a substantially small portion of theobject at the inlet of the fiberscope and conveys this image to theother end of the same fiber, at the outlet of the fiberscope. Thus, theplurality of the fibers, together provide a complete image of the objectat the outlet of the fiberscope, duplicating the image detected by thefiberscope at the inlet thereof.

[0346] The relative positions of the ends of the fibers at the outlet ofthe fiberscope, are the same as the relative positions of the fibers atthe inlet of the fiberscope (i.e., substantially no twist of the fibersalong the length of the fiberscope is allowed). Otherwise, the image ofthe object at the outlet of the fiberscope will be skewed and differentfrom the image of the object as viewed by the inlet of the fiberscope.

[0347] Right fiberscope 1636 includes an image inlet 1640, an imageoutlet 1642 and a plurality of fibers 1644. Left fiberscope 1638includes an image inlet 1646, an image outlet 1648 and a plurality offibers 1650. Multiple aperture 1624 includes a right aperture 1652 _(R)and a left aperture 1652 _(L). Multiple aperture 1624 is similar tomultiple aperture 804, as described herein above in connection with FIG.20A. Multiple aperture 1624, light sensor array 1628, controller 1630,storage unit 1632 and image processor 1634 are interconnected via a bus1674. Controller 1630 controls the alternate closure and opening ofright aperture 1652 _(R) and left aperture 1652 _(L).

[0348] Light directing assembly 1622 is located between athree-dimensional object 1654 and multiple aperture 1624. Multipleaperture 1624 is located between light directing assembly 1622 andoptical assembly 1626. Optical assembly 1626 is located between multipleaperture 1624 and light sensor array 1628. Inlet lenses 1666 and 1668are located between three-dimensional object 1654 and image inlets 1640and 1646, respectively. Outlet lenses 1670 and 1672 are located betweenmultiple aperture 1624 and image outlets 1642 and 1648, respectively.

[0349] Right fiberscope 1636 and left fiberscope 1638 are bent, suchthat image inlets 1640 and 1646 are spaced apart and image inlets 1642and 1648 are located close together. In this manner, right fiberscope1636 obtains an image of three-dimensional object 1654 from the rightside thereof, which is substantially different from another imageobtained by left fiberscope 1638, from the left side ofthree-dimensional object 1654.

[0350] Light beams 1658 and 1660 include information respective of theright side view image of three-dimensional object 1654. Inlet lens 1666focuses light beams 1658 and 1660 on image inlet 1640. Fibers 1644convey light beams 1658 and 1660 to image outlet 1642. Outlet lens 1670focuses light beams 1658 and 1660 on right aperture 1652 _(R). Sinceright aperture 1652 _(R) is open, light beams 1658 and 1660 reachoptical assembly 1626 _(R), optical assembly 1626 _(R) focuses lightbeams 1658 and 1660 on light sensor array 1628. Controller 1630 enableslight sensor array 1628 to detect a right side view image ofthree-dimensional object 1654, according to the state of multipleaperture 1624 (i.e., when right aperture 1652 _(R) is open). Controller1630 stores this right side view image in storage unit 1632.

[0351] Light beams 1662 and 1664 include information respective of theleft side view image of three-dimensional object 1654. Inlet lens 1668focuses light beams 1662 and 1664 on image inlet 1646. Fibers 1650convey light beams 1662 and 1664 to image outlet 1648. Outlet lens 1672focuses light beams 1662 and 1664 on left aperture 1652 _(L). Since leftaperture 1652 _(L) is closed, light beams 1662 and 1664 are blocked andlight sensor array 1628 does not detect the left side view image ofthree-dimensional object 1654.

[0352] In another mode of apparatus 1620 (not shown), right aperture1652 _(R) is closed and left aperture 1652 _(L) is open. Thus, leftaperture 1652 _(L) allows light beams 1662 and 1664 to pass therethrough and reach optical assembly 1626. Optical assembly 1626 focuseslight beams 1662 and 1664 on light sensor array 1628. Controller 1630enables light sensor array 1628 to detect a left side view image ofthree-dimensional object 1654, according to the state of multipleaperture 1624 (i.e., when left aperture 1652 _(L) is open). Controller1630 stores this left side view image in storage unit 1632. Imageprocessor 1634 produces a video signal for a stereoscopic display, suchas stereoscopic display 214 (FIG. 2), by retrieving these images fromstorage unit 1632 and processing them.

[0353] According to another aspect of the disclosed technique, aplurality of an arm of Y-junction fibers are spaced from a plurality ofanother arm of the Y-junction fibers. The plurality of each arm of theY-junction fibers alternately transfer an image of a three-dimensionalobject, as viewed from the respective side, to the plurality of the legsof the Y-junction fibers.

[0354] Reference is now made to FIGS. 37A and 37B. FIG. 37A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 1700, constructed and operative in accordance with a furtherembodiment of the disclosed technique. FIG. 37B is a schematicillustration of a split fiber of the light directing assembly of theapparatus of FIG. 37A.

[0355] Apparatus 1700 includes an image differentiator 1702, a rightlens 1748, a left lens 1750, a light directing assembly 1704, an opticalassembly 1706 and a light sensor array 1708. Image differentiator 1702can include a right side filter 1710 and a left side filter 1712,similar to right side filter 1202 and left side filter 1204,respectively, as described herein above in connection with FIG. 30A.Alternatively, image differentiator 1702 is a multiple aperture such asmultiple aperture 1154 (FIG. 29A).

[0356] If image differentiator 1702 is a filter type imagedifferentiator, then image differentiator 1702 includes right sidefilter 1710 and left side filter 1712. In this case, apparatus 1700further includes two illuminators (not shown) similar to illuminators1212 and 1214 as described herein above in connection with FIG. 30A. Thetwo illuminators are coupled with a controller, such as controller 1216(FIG. 30A). In the foregoing discussion, image differentiator 1702 is afilter type differentiator.

[0357] Light directing assembly 1704 includes a sleeve 1714, a rightinlet 1716, a left inlet 1718, an outlet 1720 and a plurality of splitfibers 1722. Sleeve 1714 includes a right section 1724, a left section1726 and a common section 1728.

[0358] Image differentiator 1702 is located between a three-dimensionalobject 1730, and right lens 1748 and left lens 1750. Right lens 1748 islocated in front of right inlet 1716 and it produces a right side viewimage of three-dimensional object 1730 on right inlet 1716. Left lens1750 is located in front of left inlet 1718 and it produces a left sideview image of three-dimensional object 1730 on left inlet 1718. Lightdirecting assembly 1704 is located between right lens 1748 and left lens1750, on the one side, and optical assembly 1706, on the other side.Optical assembly 1706 is located between light directing assembly 1704and light sensor array 1708.

[0359] With reference to FIG. 37B, split fiber 1722 is in the form of aY-junction. Split fiber 1722 includes a right arm 1732, a left arm 1734and a common arm 1736. Right arm 1732 and left arm 1734 merge intocommon arm 1736, such that light can enter common arm 1736 through bothright arm 1732 and left arm 1734. Sleeve 1714 is constructed in the formof a Y-junction, such that right inlet 1716 and left inlet 1718 arelocated at the right and left apex of the letter “Y”, respectively, andoutlet 1720 is located on the leg of the letter “Y”. Split fibers 1722are arranged within sleeve 1714, such that right arm 1732 of each splitfiber 1722 is located in right section 1724 of sleeve 1714 and left arm1734 of the respective split fiber 1722 is located in left section 1726of sleeve 1714. Common arm 1736 of all split fibers 1722 are located incommon section 1728 of sleeve 1714.

[0360] Right inlet 1716 can receive a right side view image ofthree-dimensional object 1730 and left inlet 1718 can receive a leftside view image thereof. The controller controls the operation of imagedifferentiator 1702 and the two illuminators, such that right inlet 1716and left inlet 1718 alternately receive the right side view image andthe left side view image, respectively, of three-dimensional object1730.

[0361] Each of a plurality of the right arms 1732 receives asubstantially small portion of the right side view image ofthree-dimensional object 1730 and transfers this portion of the image tothe respective common arm 1736. The plurality of the common arms 1736,together produce the complete right side view image of three-dimensionalobject 1730, as received by the plurality of the right arms 1732. In thesame manner, a plurality of left arms 1734 transfers the left side viewimage of three-dimensional object 1730, to the plurality of common arms1736. The common arms 1736 together produce the complete left side viewimage of three-dimensional object 1730, as received by the plurality ofthe left arms 1734.

[0362] The relative positions of common arms 1736 of split fibers 1722within common section 1728, are substantially the same as the relativepositions of right arms 1732 within right section 1724, and the relativepositions of left arms 1734 within left section 1726. Otherwise, theimage of three-dimensional object 1730 at outlet 1720 will be skewed anddifferent from the image of three-dimensional object 1730 as viewed byeither right inlet 1716 or left inlet 1718.

[0363] If the split fibers 1722 are placed within sleeve 1714, such thatjunctions 1742 (FIG. 37B) of all the split fibers 1722 are located sideby side, a substantially large space will be consumed. To mitigate thisproblem, the split fibers 1722 are placed within sleeve 1714, such thatjunctions 1742 of each split fibers 1722 are periodically andsequentially located on the top of each other, at different heights.

[0364] In the example set forth in FIG. 37A, right side filter 1710 letsthe light through. Therefore, right inlet 1716 receives light beams 1738and 1740, which include information respective of the right side viewimage of three-dimensional object 1730, through right side filter 1710.Right lens 1748 focuses light beams 1738 and 1740 on right inlet 1716,wherein right lens 1748 images the points on three-dimensional object1730 from which light beams 1738 and 1740 have arrived, on right inlet1716. The plurality of right arms 1732 transfer light beams 1738 and1740 to outlet 1720, via the respective plurality of common arms 1736.Optical assembly 1706 receives light beams 1738 and 1740 from outlet1720 and optical assembly 1706 focuses light beams 1738 and 1740 onlight sensor array 1708. A processor, such as processor 208 (FIG. 2),enables light sensor array 1708 to detect a right side view image ofthree-dimensional object 1730, according to the state of imagedifferentiator 1702 (i.e., when right side filter 1710 is open).

[0365] Light beams 1744 and 1746, which include information respectiveof the left side view image of three-dimensional object 1730, reach leftside filter 1712. Since left side filter 1712 is not operative, lightbeams 1744 and 1746 are blocked and do not reach light sensor array1708.

[0366] In another mode of apparatus 1700 (not shown), right side filter1710 blocks light beams 1738 and 1740, while left side filter 1712 letsthrough the light beams 1744 and 1746. Left lens 1750 focuses lightbeams 1744 and 1746 on left inlet 1718, wherein left lens 1750 imagesthe points on three-dimensional object 1730 from which light beams 1744and 1746 have arrived, on left inlet 1718. In this case, the pluralityof left arms 1734 transfer light beams 1744 and 1746 to outlet 1720, viathe respective plurality of common arms 1736. Optical assembly 1706receives light beams 1744 and 1746 from outlet 1720 and optical assembly1706 focuses light beams 1744 and 1746 on light sensor array 1708. Theprocessor enables light sensor array 1708 to detect a left side viewimage of three-dimensional object 1730, according to the state of imagedifferentiator 1702 (i.e., when left side filter 1712 is open).

[0367] Reference is now made to FIGS. 38A and 38B. FIG. 38A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 1800, constructed and operative in accordance with anotherembodiment of the disclosed technique. FIG. 38B is a schematicillustration of the apparatus of FIG. 38A, in another mode of operation.

[0368] Apparatus 1800 includes a right side filter 1802, a left sidefilter 1804, a periscope assembly 1806, an optical assembly 1808, aduo-tone rotating disk 1810, a light sensor array 1812, an illuminator1814, a controller 1816, a storage unit 1818 and an image processor1820. Right side filter 1802 is a light filter, which admits light inonly a predetermined range of wavelengths. Left side filter 1804 is alight filter which admits light in another predetermined range ofwavelengths, different than the range of wavelengths which is set forright side filter 1802. Periscope assembly 1806 is similar to periscopeassembly 1206, as described herein above in connection with FIG. 30A.Duo-tone rotating disk 1810 includes two filtering portions 1822 and1824. Filtering portion 1822 admits light in a range of wavelengthswhich matches the range of wavelengths of right side filter 1802 andfiltering portion 1824 admits light in another range of wavelengthswhich matches the range of wavelengths of left side filter 1804.

[0369] Illuminator 1814 provides light in at least the range ofwavelengths defined by filtering portions 1822 and 1824. In the exampleset forth in FIGS. 38A and 38B, right side filter 1802 admits only redlight, whereas left side filter 1804 admits only blue light. Hence,filtering portion 1822 is red (i.e., admits only red light radiation),and filtering portion 1824 is blue (i.e., admits only blue lightradiation). Light sensor array 1812 detects light in at least the rangeof wavelengths defined by filtering portions 1822 and 1824.

[0370] Right side filter 1802 and left side filter 1804 are locatedbetween a three-dimensional object 1826 and periscope assembly 1806.Periscope assembly 1806 is located between right side filter 1802 andleft side filter 1804, and optical assembly 1808. Optical assembly 1808is located between periscope assembly 1806 and duo-tone rotating disk1810. Duo-tone rotating disk 1810 is located between optical assembly1808 and light sensor array 1812. Duo-tone rotating disk 1810, lightsensor array 1812, controller 1816, storage unit 1818 and imageprocessor 1820 are interconnected via a bus 1848.

[0371] With reference to FIG. 38A, right side filter 1802 receives lightbeams 1828 and 1830, which include information respective of the rightside view image of three-dimensional object 1826. Right side filter 1802directs light beams 1828 and 1830 to periscope assembly 1806, as lightbeams 1832 and 1834, respectively, which have a red tone. Left sidefilter 1804 receives light beams 1836 and 1838, which includeinformation respective of the left side view image of three-dimensionalobject 1826. Left side filter 1804 directs light beams 1836 and 1838 toperiscope assembly 1806, as light beams 1840 and 1842, respectively,which have a blue tone. Periscope assembly 1806 directs light beams1832, 1834, 1840 and 1842 to optical assembly 1808.

[0372] Optical assembly 1808 receives light beams 1832, 1834, 1840 and1842 at inlets thereof (not shown), and directs light beams 1832, 1834,1840 and 1842 from an outlet thereof (not shown) to duo-tone rotatingdisk 1810. In the example set forth in FIG. 38A, duo-tone rotating disk1810 is shown in an instant during the rotation thereof, such thatfiltering portion 1822 (red) is located above light sensor array 1812.Filtering portion 1822 admits only red beams of light. Thus, filteringportion 1822 admits light beams 1832 and 1834, which include informationrespective of the right side view image of three-dimensional object1826. It is noted that filtering portion 1822 blocks light beams 1840and 1842 which include information respective of the left side viewimage of three-dimensional object 1826.

[0373] Controller 1816 enables light sensor array 1812 to detect a rightside view image of three-dimensional object 1826, according to theposition of duo-tone rotating disk 1810 relative to light sensor array1812 (i.e., when filtering portion 1822 is located above light sensorarray 1812). Controller 1816 stores this right side view image instorage unit 1818.

[0374] With reference to FIG. 38B, duo-tone rotating disk 1810 is in aninstant during the rotation thereof, such that filtering portion 1824(blue) is located above light sensor array 1812. Filtering portion 1824admits only blue beams of light. Thus, filtering portion 1824 admitslight beams 1840 and 1842, which include information respective of theleft side view image of three-dimensional object 1826. It is noted thatfiltering portion 1824 blocks light beams 1832 and 1834 which includeinformation respective of the right side view image of three-dimensionalobject 1826. Controller 1816 enables light sensor array 1812 to detect aleft side view image of three-dimensional object 1826, according to theposition of duo-tone rotating disk 1810 relative to light sensor array1812 (i.e., when filtering portion 1824 is located above light sensorarray 1812). Controller 1816 stores this left side view image in storageunit 1818. Image processor 1820 produces a video signal for astereoscopic display, such as stereoscopic display 214 (FIG. 2), byretrieving these images from storage unit 1818 and processing them.

[0375] Reference is now made to FIGS. 39A and 39B. FIG. 39A is aschematic illustration of a partially-transparent rotating disk,generally referenced 1900, constructed and operative in accordance witha further embodiment of the disclosed technique. FIG. 39B is a schematicillustration of a partially-transparent rotating disk, generallyreferenced 1910, constructed and operative in accordance with anotherembodiment of the disclosed technique.

[0376] With reference to FIG. 39A, partially-transparent rotating disk1900 is made of plastic, glass, and the like. Partially-transparentrotating disk 1900 is divided into a transparent portion 1902 and anopaque portion 1904. Transparent portion 1902 and opaque portion 1904are divided by a diameter 1906 of partially-transparent rotating disk1900. Transparent portion 1902 admits light of a selected range ofwavelength (either in the visible range or the invisible range), whileopaque portion 1904 blocks light at this selected range of wavelength.

[0377] With reference to FIG. 39B, partially-transparent rotating disk1910 includes a transparent portion 1912 and an opaque portion 1914.Transparent portion 1912 occupies one quadrant of partially-transparentrotating disk 1910, while opaque portion 1914 occupies the rest. Theproperties of transparent portion 1912 and opaque portion 1914 aresimilar to properties of transparent portion 1902 and opaque portion1904 , respectively.

[0378] Reference is now made to FIGS. 40A and 40B. FIG. 40A is aschematic illustration of a multi-wavelength rotating disk, generallyreferenced 1930, constructed and operative in accordance with a furtherembodiment of the disclosed technique. FIG. 40B is a schematicillustration of a multi-wavelength rotating disk, generally referenced1950, constructed and operative in accordance with another embodiment ofthe disclosed technique.

[0379] With reference to FIG. 40A, multi-wavelength rotating disk 1930is divided to a transparent portion 1932 and an opaque portion 1934.Transparent portion 1932 and opaque portion 1934 are divided by adiameter 1936 of multi-wavelength rotating disk 1930. Transparentportion 1932 is divided to a plurality of filtering sectors 1938, 1940and 1942. Filtering sectors 1938, 1940 and 1942 occupy substantiallyequal areas. Each of the filtering sectors 1938,1940 and 1942 admitslight at a different range of wavelengths (either in the visible rangeor the invisible range), while opaque portion 1934 blocks light at allof these different range of wavelengths. In the example set forth inFIG. 40A, filtering sectors 1938, 1940 and 1942 admit red, green andblue light, respectively.

[0380] With reference to FIG. 40B, multi-wavelength rotating disk 1950includes a plurality of filtering sectors 1952, 1954 and 1956 and aplurality of opaque sectors 1958, 1960 and 1962. Filtering sectors 1952,1954 and 1956, and opaque sectors 1958, 1960 and 1962, occupysubstantially equal areas. Each of the filtering sectors 1952, 1954 and1956 admits light at a different range of wavelengths (either in thevisible range or the invisible range), while opaque sectors 1958, 1960and 1962 block light at all of these different range of wavelengths. Inthe example set forth in FIG. 40B, filtering sectors 1952, 1954 and 1956admit red, green and blue light, respectively.

[0381] According to another aspect of the disclosed technique, thetwo-dimensional light sensor array is replaced by a one-dimensionallight sensor array and a rotating mirror, which swivels about an axisperpendicular to the stereoscopic axis. The rotating mirror rotatesabout an axis which is parallel to the one-dimensional light sensorarray, thereby continuously scanning the surface of a three-dimensionalbody. The rotating mirror directs the scanned image to theone-dimensional light sensor array, via an image differentiator, a lightdirecting assembly and an optical assembly. A controller coupled withthe one-dimensional light sensor array enables the one-dimensional lightsensor array to detect images of different regions of thethree-dimensional object in sequence. The image differentiatordifferentiates between a line of the right side view image and a line ofthe left side view image of each of these different regions, beforethese lines of image reach the one-dimensional light sensor array.

[0382] Reference is now made to FIGS. 41A, 41B and 41C. FIG. 41A is aschematic illustration of a top view of a stereoscopic image scanningapparatus, generally referenced 2000, constructed and operative inaccordance with a further embodiment of the disclosed technique. FIG.41B is a schematic illustration of side view (referenced A in FIG. 41A)of the apparatus of FIG. 41A, in one mode of scanning. FIG. 41C is aschematic illustration of the apparatus of FIG. 41B, in another mode ofscanning.

[0383] With reference to FIG. 41A, apparatus 2000 includes a scanningelement 2002, an image differentiator 2004, an image directing assembly2006, an optical assembly 2008 and an image detector 2010. Imagedifferentiator 2004 includes static polarizers 2012 and 2014, and adynamic polarizer 2016. Image directing assembly 2006 includes a rightperiscopic prism 2018 and a left periscopic prism 2020. Image detector2010 includes a one-dimensional light sensor array, which is essentiallya plurality of light sensors, arranged in a row. Scanning element 2002can be in form of a flat mirror, prism, lens, spherical mirror,aspherical mirror, holographic element, and the like. In the examplesdescribed according to FIGS. 41B and 41C, scanning element 2002 is inform of a mirror.

[0384] Static polarizers 2012 and 2014 are located between scanningelement 2002 and image directing assembly 2006. Image directing assembly2006 is located between static polarizers 2012 and 2014 on one side anddynamic polarizer 2016 on the other side. Dynamic polarizer 2016 islocated between image directing assembly 2006 and optical assembly 2008.Optical assembly 2008 is located between dynamic polarizer 2016 andimage detector 2010.

[0385] With further reference to FIG. 41B, a three-dimensional object2022 is located at a side of apparatus 2000. In this configuration thelongitudinal axis of apparatus 2000 is approximately perpendicular tothe viewing direction of three-dimensional object 2022, by apparatus2000.

[0386] Scanning element 2002 being at a certain angular position,directs an image line of a region 2024 of three-dimensional object 2022,to static polarizers 2012 and 2014. Right periscopic prism 2018 receivesa line of the right side view image of region 2024 via static polarizer2012 and left periscopic prism 2020 receives a line of the left sideview image of region 2024 via static polarizer 2014. Right periscopicprism 2018 and left periscopic prism 2020 direct the line of the rightside view image and the line of the left side view image of region 2024to dynamic polarizer 2016. In the example set forth in FIG. 41A, thepolarization angle of dynamic polarizer 2016 is substantially the sameas the polarization angle of static polarizer 2012. Hence, the lightbeams which define the line of the right side view image, pass throughdynamic prism 2016 and enter optical assembly 2008. Optical assembly2008 directs the line of the right side view image on one-dimensionallight sensor array 2010. Since the polarization angle of dynamicpolarizer 2016 is approximately 90 degrees away from the polarizationangle of static polarizer 2014, dynamic polarizer 2016 blocks the lightbeams which define the line of the left side view image and the line ofleft side view image does not reach one-dimensional light sensor array2010.

[0387] With further reference to FIG. 41C, scanning element 2002 is atanother angular position relative to the one illustrated in FIG. 41B.Hence, scanning element 2002 directs a line of an image of a region 2026of three-dimensional object 2022, to static polarizers 2012 and 2014.Right periscopic prism 2018 and left periscopic prism 2020 receive aline of a right side view image and a line of a left side view image ofthe image of region 2026, via static polarizers 2012 and 2014,respectively. Right periscopic prism 2018 and left periscopic prism 2020direct the line of the right side view image and the line of the leftside view image, respectively, to dynamic polarizer 2016. In the exampleset forth in FIG. 41A, the polarization angle of dynamic polarizer 2016is substantially the same as the polarization angle of static polarizer2012 and the polarization angle of dynamic polarizer 2016 isapproximately 90 degrees away from that of static polarizer 2014.

[0388] Hence, the light beams which define the line of the right sideview image of region 2026 pass through dynamic polarizer 2016 and reachone-dimensional light sensor array 2010, while the light beams whichdefine the line of the left side view image of region 2026 are blockedby dynamic polarizer 2016 and do not reach one-dimensional light sensorarray 2010. A controller which is coupled with scanning element 2002 andto one-dimensional light sensor array 2010, enables one-dimensionallight sensor array 2010 to detect a line of an image ofthree-dimensional object 2022, according to the angular position ofscanning element 2002. It is noted that scanning element 2002 can eitherrotate continuously, or rotate back and forth between two angularpositions.

[0389] Alternatively, the image detector is a two-dimensional lightsensor array operating in time delay integration (TDI) mode. Thescanning element scans a plurality of successive two-dimensional regionsof the three-dimensional object. The scanning element directs thetwo-dimensional images of these two-dimensional regions, in succession,to the image detector. A controller is coupled with the scanning elementand to the image detector. The controller successively shifts theelectronic charges from one row of the image detector to the other rowin turn, along the columns of the image detector in synchrony with thescanning movement of the scanning element. After shifting the electroniccharges from a first row to a second row, the controller resets thefirst row. In this manner, the sum of the electronic charges of all therows are accumulated in the last row of the two-dimensional light sensorarray. The controller delivers the charges from the last row of theimage detector, in sequence and in synchrony with the scanning movementof the scanning element, to an image processor. The image processorproduces a substantially sharp stereoscopic image of the region of thethree-dimensional object, which the scanning element repeatedly scans.

[0390] It is noted, that if the image detector does not operate in TDImode (i.e., the controller does not shift the charges from one column tothe other), then the image processor produces a blurred stereoscopicimage of the three-dimensional object. This is so, because the scanningelement provides images of successive regions of the three-dimensionalobject to the image detector. The image processor produces astereoscopic image of the three-dimensional object and the stereoscopicimage is blurred according to the scanning speed of the scanningelement.

[0391] According to another aspect of the disclosed technique, a rightside filter and a left side filter are employed, each admitting an imageat two different ranges of wavelengths. When the three-dimensional bodyis sequentially illuminated with light at each of the first ranges ofwavelengths, the right side filter sequentially directs a right sideview image of the three-dimensional object to the image detector, ateach one of the first ranges of wavelengths. Likewise, when thethree-dimensional body is sequentially illuminated at each of the secondranges of wavelengths, the left side filter sequentially directs a leftside view image of the three-dimensional object to the image detector,at each one of the second ranges of wavelengths.

[0392] Reference is now made to FIGS. 42A and 42B. FIG. 42A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 2040, constructed and operative in accordance with anotherembodiment of the disclosed technique. FIG. 42B is a schematicillustration of the stereoscopic imaging apparatus of FIG. 42A, inanother mode of operation.

[0393] Apparatus 2040 includes a right side filter 2042, a left sidefilter 2044, an image detector 2046, an illuminator 2048, a controller2050, a storage unit 2052 and an image processor 2054. Right side filter2042 and left side filter 2044 are located between a three-dimensionalobject 2056 and image detector 2046. Controller 2050 is coupled withilluminator 2048. Image detector 2046 controller 2050, storage unit 2052and image processor 2054 are coupled together via a bus 2058.

[0394] Right side filter 2042 admits light within the ranges ofwavelengths ΔR₁, ΔG₁ and ΔB₁. Left side filter 2044 admits light withinthe ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂. Illuminator 2048sequentially emits light at each of the ranges of wavelengths ΔR₁, ΔG₁,ΔB₁, ΔR₂, ΔG₂ and ΔB₂.

[0395] With reference to FIG. 42A, illuminator 2048 sequentially emitslight at each of the ranges of wavelengths ΔR₁, ΔG₁ and ΔB₁. Right sidefilter 2042 sequentially directs right side view images 2048 ^(R) _(R),2048 ^(R) _(G) and 2048 ^(R) _(B) in red, green and blue, respectively,to image detector 2046 and controller 2050 enables image detector 2046to detect these images in sequence. Controller 2050 stores these imagesin storage unit 2052. Image processor 2054 produces a video signalrespective of a full color right side view image of three-dimensionalobject 2056, by retrieving right side view images 2048 ^(R) _(R), 2048^(R) _(G) and 2048 ^(R) _(B) from storage unit 2052 and processing theseimages. Since left side filter 2044 admits light only within the rangesof wavelengths ΔR₂, ΔG₂ and ΔB₂, left side filter 2044 does not directthe left side view image of three-dimensional object 2056 to imagedetector 2046.

[0396] With reference to FIG. 42B, illuminator 2048 sequentiallyprovides light at each of the ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂. Inthis case, left side filter 2044 sequentially directs left side viewimages 2048 ^(L) _(R), 2048 ^(L) _(G) and 2048 ^(L) _(B) in red, greenand blue, respectively, to image detector 2046 and controller 2050enables image detector 2046 to detect these images in sequence.Controller 2050 stores these images in storage unit 2052. Imageprocessor 2054 produces a video signal respective of a full color leftside view image of three-dimensional object 2056, by retrieving leftside view images 2048 ^(L) _(R), 2048 ^(L) _(G) and 2048 ^(L) _(B) fromstorage unit 2052 and processing these images. Since right side filter2042 admits light only within the ranges of wavelengths ΔR₁, ΔG₁ andΔB₁, right side filter 2042 does not direct the right side view image ofthree-dimensional object 2056 to image detector 2046.

[0397] Alternatively, illuminator 2048 is replaced by a sequentialmulti-wavelength illuminator which emits light at a mixture of theranges of wavelengths ΔR₁, ΔG₁ and ΔB₁ and at a mixture of the ranges ofwavelengths ΔR₂, ΔG₂ and ΔB₂. The sequential multi-wavelengthilluminator sequentially emits light at each of the mixtures of theranges of wavelengths ΔR₁, ΔG₁ and ΔB₁, and at each of the mixtures ofthe ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂. When the sequentialmulti-wavelength illuminator emits light at the mixture of the ranges ofwavelengths ΔR₁, ΔG₁ and ΔB₁, right side filter 2042 directs a fullcolor right side view image of three-dimensional object 2056, at themixture of the ranges of wavelengths ΔR₁, ΔG₁ and ΔB₁, to image detector2046. When the sequential multi-wavelength illuminator emits light atthe mixture of the ranges of wavelengths ΔR₂, ΔG₂ and ΔB₂, left sidefilter 2044 directs a full color left side view image ofthree-dimensional object 2056, at the mixture of the ranges ofwavelengths ΔR₂, ΔG₂ and ΔB₂, to image detector 2046.

[0398] Further alternatively, illuminator 2048 is replaced by amulti-wavelength illuminator which emits light at a range of wavelengthswhich encompasses the ranges of wavelengths ΔR₁, ΔG₁, ΔB₁, ΔR₂, ΔG₂ andΔB₂ and a duo-tone rotating disk in located between the right sidefilter and the left side filter at one side and the image detector atthe other. The duo-tone rotating disk is divided to two transparentportions. One transparent portion of the duo-tone rotating disk admitslight at the ranges of wavelengths ΔR₁, ΔG₁ and ΔB₁, and the othertransparent portion thereof, admits light at the ranges of wavelengthsΔR₂, ΔG₂ and ΔB₂. The multi-wavelength illuminator continuouslyilluminates the three-dimensional object. As the duo-tone rotating diskrotates, the right side filter and the left side filter sequentiallydirect a full color right side view image and a full color left sideview image, respectively, of the three-dimensional object, to the imagedetector.

[0399] Alternatively, right side filter 2042 and left side filter 2044are spaced apart. In this case right side filter 2042 receives a rightside view image of three-dimensional object 2056, which is considerablymore distinct than a left side view image thereof, thereby allowingimage processor 2054 to produce a more realistic full color stereoscopicimage of three-dimensional object 2056. It is noted that instead of theduo-tone rotating disk, other types of rotating disks can be employed,such as a multi-wavelength rotating disk (FIGS. 40A and 40B), definedaccording to ΔR₁, ΔG₁, ΔB₁, ΔR₂, ΔG₂ and ΔB₂.

[0400] Reference is now made to FIG. 43, which is a schematicillustration of a method for operating a stereoscopic imaging apparatus,operative in accordance with a further embodiment of the disclosedtechnique. In procedure 2080, a plurality of first ranges of filterwavelengths and a plurality of second ranges of filter wavelengths aredetermined for a first pupil and a second pupil, respectively. Withreference to FIG. 30A, right side filter 1202 admits light at the rangesof wavelengths ΔR₁, ΔG₁, and ΔB₁ and left side filter 1204 admits lightat the ranges of wavelengths ΔR₁, ΔG₁, and ΔB₁.

[0401] In procedure 2082, a first set of differentiating wavelengthswhich is included in the first ranges of filter wavelengths and excludedfrom the second ranges of filter wavelengths, is determined. Withreference to FIG. 30A, illuminating unit 1240 is associated with thegroup of wavelengths RGB₁ which is included in the ranges of wavelengthsΔR₁, ΔG₁, and ΔB₁ and excluded from the ranges of wavelengths ΔR₂, ΔG₂,and ΔB₂. In procedure 2082, a second set of differentiating wavelengths,which is included in the second ranges of filter wavelengths andexcluded from the first ranges of filter wavelengths, is determined.With reference to FIG. 30A, illuminating unit 1240 is associated withthe group of wavelengths RGB₂ which is included in the ranges ofwavelengths ΔR₂, ΔG₂, and ΔB₂ and excluded from the ranges ofwavelengths ΔR₁, ΔG₁, and ΔB₁.

[0402] In procedure 2086, an object is sequentially illuminated with thefirst set of differentiating wavelengths and with the second set ofdifferentiating wavelengths. With reference to FIGS. 30A and 30B,illuminating unit 1240 sequentially illuminates three-dimensional object1230 at the group of wavelengths RGB₁ and at the group of wavelengthsRGB₁.

[0403] In procedure 2088, a first image is detected when the first setof differentiating wavelengths is present and a second image is detectedwhen the second set of differentiating wavelengths is present. Withreference to FIG. 30A, controller 1216 enables light sensor array 1210to detect the right side view image of three-dimensional object 1230,when illuminating unit 1240 emits light at the group of wavelengthsRGB₁. With reference to FIG. 30B, controller 1216 enables light sensorarray 1210 to detect the left side view image of three-dimensionalobject 1230, when illuminating unit 1240 emits light at the group ofwavelengths RGB₂.

[0404] According to another embodiment, differentiation is performed bysequentially admitting light at the different sets of wavelengths, by asequential filtering device, such as a rotating disk, an alternatingfilter, and the like. According to this embodiment, procedure 2090replaces procedure 2086. In procedure 2090, light is admittedsequentially at the first set of differentiating wavelengths and at thesecond set of differentiating wavelengths.

[0405] The light differentiator can be any optical device which candifferentiate between different wavelengths (e.g., by means ofillumination, reflection or filtration). For example, the lightdifferentiator can be a rotating disk divided into filtering sectors,wherein each filtering sector filters light at wavelengths which areincluded in one of the right side filter and the left side filter andexcluded from the other of these two filters. Alternatively, areflective rotating disk can be employed, which is divided into aplurality of reflecting sectors, where each reflecting sector reflectslight at a different wavelength. Further alternatively, a multi-stateflipping filter can be employed, which is mechanically flipped from onelight filter to the other, in sequence. Other types of sequentialfilters, such as those which are operated electrically rather thanmechanically, are applicable to this embodiment. Alternatively, thelight differentiator can be a set of partially reflective mirrors thatcan be operated sequentially, each reflecting light at wavelengths whichare included in one of the right side filter and the left side filterand excluded from the other of these two filters (e.g., a partiallyreflective mirror which reflects light at CYMG₁ and another partiallyreflective mirror which reflects light at CYMG₂).

[0406] Reference is further made to FIGS. 44A and 44B. FIG. 44A is aschematic illustration of a rotating disk, generally referenced 2100,constructed and operative in accordance with another embodiment of thedisclosed technique. FIG. 44B is a schematic illustration of a rotatingdisk, generally referenced 2110, constructed and operative in accordancewith a further embodiment of the disclosed technique.

[0407] With reference to FIG. 44A, rotating disk 2100 includes twofiltering sectors 2102 and 2104, and two opaque sectors 2106 and 2108.Filtering sector 2102 admits light at a group of wavelengths R₁, G₁ andB₁ (i.e., RGB₁), whereas filtering sector 2104 admits light at a groupof wavelengths R₂, G₂ and B₂ (i.e., RGB₂). With reference to FIG. 44B,rotating disk 2110 includes filtering sectors 2112, 2114, 2116, 2118,2120 and 2122, which admit light at wavelengths R₁, G₁, B₁, R₂, G₂ andB₂, respectively.

[0408] In examples described above, the light differentiatordifferentiates between two groups of wavelengths, where each group ofwavelengths includes three wavelengths (i.e., R, G and B). Thus, thelight differentiator of the stereoscopic imaging apparatusdifferentiates between two red wavelengths (R₁ and R₂), two greenwavelengths (G₁ and G₂) and two blue wavelengths (B₁ and B₂). As notedabove, the light differentiator can be for example, an illuminator, alight filtering element or a light reflecting element.

[0409] However, it is noted that each of the two groups of wavelengthscan include more than three wavelengths and for that matter, any numberof wavelengths. For example, high quality spectrometers are capable tosplit the light to 20 or 40 or more different wavelengths (e.g., IR₁,IR₂, IR₃, IR₄, IR_(n), R₁, R₂, R₃, . . . , R_(m), G₁, G₂, G₃, . . . ,G_(p), B₁, B₂, B₃, . . . , B_(q), UV₁, UV₂, UV₃, . . . , UV_(s), and thelike).

[0410] Reference is now made to FIGS. 45A and 45B. FIG. 45A is aschematic illustration of a stereoscopic imaging apparatus, generallyreferenced 2140, constructed and operative in accordance with anotherembodiment of the disclosed technique. FIG. 45B is a schematicillustration of a top view of the apparatus of FIG. 45A.

[0411] With reference to FIG. 45A, apparatus 2140 includes a periscopeassembly 2142, an image differentiator 2144, an optical assembly 2146and a light sensor array 2148. Periscope assembly 2142 includes a rightfront mirror 2150, a left front mirror 2152, a right middle mirror 2154,a left middle mirror 2156, a right rear mirror 2158 and a left rearmirror 2160. In the example set forth in FIG. 45A, image differentiator2144 is a multiple aperture similar to multiple aperture 1154 (FIG.29A). Image differentiator 2144 includes a right aperture 2162 and aleft aperture 2164.

[0412] Periscope assembly 2142 is located between a three-dimensionalobject 2166 and image differentiator 2144. Image differentiator 2144 islocated between periscope assembly 2142 and optical assembly 2146.Optical assembly 2146 is located between image differentiator 2144 andlight sensor array 2148.

[0413] The X axis designates the longitudinal axis of apparatus 2140.The X axis together with the Y and Z axes, form a rectilinear coordinatesystem. In the following description, the right hand rule applies tothis coordinate system. For example, the phrase “a tilt of positive 45degrees about the Z axis”, means a tilt of 45 degrees about the Z axisin the direction of the fingers, when the thumb points in the directionof the Z axis. On the other hand, the phrase “a tilt of negative 45degrees about the Z axis”, means a tilt of 45 degrees about the Z axisin the direction of the fingers, when the thumb points in a directionopposite to the Z axis.

[0414] The reflecting surface of right front mirror 2150 is tilted bypreferably positive 45 degrees about the Y axis from the Z-Y plane andby preferably negative 30 degrees about the Z axis, from the Z-X plane.The reflecting surface of left front mirror 2152 is tilted by preferablypositive 45 degrees about the Y axis from the X-Y plane and bypreferably negative 30 degrees about the Z axis, from the Z-X plane.

[0415] The reflecting surface of right middle mirror 2154 is tilted bypreferably negative 45 degrees about the X axis from the Z-X plane andby preferably negative 30 degrees about the Z axis, from the Z-X plane.The reflecting surface of left middle mirror 2156 is tilted bypreferably positive 45 degrees about the X axis from the Z-X plane andby preferably negative 30 degrees about the Z axis, from the Z-X plane.

[0416] The reflecting surfaces of right rear mirror 2158 and left rearmirror 2160 are tilted by preferably negative 60 degrees about the Zaxis from the Z-X plane. Hence, periscope assembly 2142 is tiltedpreferably by negative 30 degrees about the Z axis from the Z-X plane.

[0417] Right front mirror 2150 receives a light beam 2168 respective ofa right side view image of three-dimensional object 2166. Sinceperiscope assembly 2142 is tilted by substantially negative 30 degreesabout the Z axis, light beam 2168 is located on a plane which is tiltedby substantially negative 30 degrees from the Z-X plane, about the Zaxis. Right front mirror 2150 directs a reflection of light beam 2168toward right middle mirror 2154, as a light beam 2170. Light beam 2170is located on the Z-X plane.

[0418] Right middle mirror 2154 directs a reflection of light beam 2170toward right rear mirror 2158, as a light beam 2172. Light beam 2172 islocated at the intersection of the X-Y plane and a plane which is tiltedabout the Z axis by approximately positive 60 degrees from the Z-Xplane. Right rear mirror 2158 directs a reflection of light beam 2172toward image differentiator 2144, as a light beam 2174. Light beam 2174points in a direction substantially parallel to the X axis. In theexample set forth in FIG. 45A, right aperture 2162 is open while leftaperture 2164 is closed. Thus, image differentiator 2144 admits lightbeam 2174 and optical assembly 2146 directs light beam 2174 toward lightsensor array 2148.

[0419] With reference to FIG. 45B, right front mirror 2150 receiveslight beam 2168 at an angle of approximately 30 degrees relative to theX axis. Right middle mirror 2154 reflects light beam 2168 as light beam2170 (not shown in FIG. 45B) in a direction pointing into the drawingand right middle mirror 2154 reflects light beam 2170 as light beam2172. As shown in FIG. 45B, light beam 2172 points in a direction ofapproximately 90 degrees relative to that of light beam 2168. Right rearmirror 2158 is tilted approximately 60 degrees relative to the X axis,whereby right rear mirror 2158 reflects light beam 2172 as light beam2174 in a direction substantially parallel to the X axis.

[0420] Referring back to FIG. 45A, left front mirror 2152 receives alight beam 2176 respective of a left side view image ofthree-dimensional object 2166 and directs a reflection of light beam2176 toward left middle mirror 2156, as a light beam 2178. Light beam2176 is located on the same plane as that of light beam 2168 and lightbeam 2178 is located on the same plane as that of light beam 2170. Leftmiddle mirror 2156 directs a reflection of light beam 2178 toward leftrear mirror 2160, as a light beam 2180. Light beam 2180 is located onthe same plane as that of light beam 2172. Left rear mirror directs areflection of light beam 2180 toward image differentiator 2144, as alight beam 2182. Light beam 2182 points in a direction substantiallyparallel to the X axis. Since left aperture 2164 is closed, imagedifferentiator 2144 blocks light beam 2182.

[0421] It is noted that right front mirror 2150, right middle mirror2154 and right rear mirror 2158 can be incorporated in a right prism,wherein the right prism is titled sideways relative to the longitudinalaxis of the apparatus. In this case, each of the right front mirror2150, right middle mirror 2154 and right rear mirror 2158 represents therespective reflective surface of the right prism. Likewise, right frontmirror 2152, right middle mirror 2156 and right rear mirror 2160 can beincorporated in a left prism, wherein the left prism is titled sidewaysrelative to the longitudinal axis of the apparatus, by the same amountas the right prism. Thus, the right prism receives a right side viewimage of a three-dimensional object which is located at a side of theapparatus, while the left prism receives a left side view image of thethree-dimensional.

[0422] It is noted that above optical structure provides a clear,straight and undistorted image at each of the right and left channels.

[0423] Reference is now made to FIG. 46A and FIG. 46B. FIG. 46A is aschematic illustration of a physical object 2202 and a stereoscopicimaging apparatus, generally referenced 2200, constructed and operativein accordance with a further embodiment of the disclosed technique. FIG.46B is a schematic illustration of the apparatus of FIG. 46A, with adifferent set of light rays shown.

[0424] With reference to FIG. 46A, apparatus 2200 includes an objectivelens assembly 2204, a lenticular lens layer 2206 and a light sensorarray 2208. Lenticular lens layer 2206 and light sensor array 2208 aregenerally similar to lenticular lens layer 1106 and light sensor array1108 of FIG. 28A. Objective lens assembly 2204 includes an aperture stop2210, including a left pupil P_(L) and a right pupil P_(R). Aperturestop 2210 transmits light incident upon left pupil P_(L) and a rightpupil P_(R), and substantially reflects or absorbs all other incidentlight.

[0425] Objective lens assembly 2204 generates two overlapping images onthe image plane (i.e., on the plane defined by the light sensor array2208). One of these images arrives from left pupil P_(L) and the otherimage arrives from right pupil P_(R). With reference to FIG. 46A,objective lens assembly 2204 receives light beams 2220A, 2222A and 2224Afrom physical object 2202, at left pupil PL. Objective lens assembly2204 emits light beams 2220A, 2222A and 2224A as light beams 2220B,2222B and 2224B, respectively. Objective lens assembly 2204 directslight beams 2220B, 2222B and 2224B towards lenticular lenses 2212 ₁,2212 ₂ and 2212 ₃ of lenticular lens array 2206, respectively.Lenticular lenses 2212 ₁, 2212 ₂ and 2212 ₃ direct light beams 2220B,2222B and 2224B towards light sensors 2214A_(L), 2214B_(L) and2214C_(L), respectively, in a similar manner as described in FIG. 28A.

[0426] Similarly, referring to FIG. 46B, objective lens assembly 2204receives light beams 2270A, 2272A and 2274A from physical object 2202,at right pupil P_(R). Light beams 2270A, 2272A and 2274A originate fromthe same points on physical object 2202 as light beams 2220A, 2222A and2224A, respectively. Objective lens assembly 2204 emits light beams2270A, 2272A and 2274A as light beams 2270B, 2272B and 2274B,respectively. Light beams 2270B, 2272B and 2274B are emitted at asubstantially opposite direction, relative to an axis perpendicular tothe image plane, from light beams 2220B, 2222B and 2224B (FIG. 46A).Light beams 2270B, 2272B and 2274B reach lenticular elements 2214A_(R),2214B_(R) and 2214C_(R), respectively. Lenticular lenses 2212 ₁, 2212 ₂and 2212 ₃ direct light beams 2270B, 2272B and 2274B towards lightsensors 2214A_(R), 2214B_(R) and 2214C_(R), respectively.

[0427] It is noted that in the present example, objective lens assembly2204 is telecentric. Accordingly, light beams 2270B, 2272B and 2274B areparallel there between, as are light beams 2220B, 2222B and 2224B.Hence, each lenticular lens receives light beams at one of two specificdirections, and directs these light beams to one of two specific lightsensors. Alternatively, the objective lens assembly may be nearlytelecentric, in which case these light beams are only approximatelyparallel, but the lenticular lens still separates between the two groupsof light beams. In general, the objective lens assembly should directthe light beams from the left pupil in a direction from a first set ofdirections, and the light beams from the right pupil in a direction froma second set of directions.

[0428] According to the present embodiment, the pupils PL and PR definethe “eyes” of the optical device, which are required for stereoscopicvision. It is noted that the light beams arrive at the lenticularelements substantially in one of two specific directions. Hence, eachlenticular element distinguishes precisely between the light receivedfrom the left pupil and that received from the right pupil.

[0429] Alternatively, the aperture stop includes “soft” pupils, insteadof the pupils P_(L) and P_(R). Reference is now made to FIG. 47, whichis a schematic illustration of an aperture stop, generally referenced2300, constructed and operative in accordance with another embodiment ofthe disclosed technique. Aperture stop 2300 includes a left soft pupilP_(L(S)) and a right soft pupil P_(R(S)). Each of pupils P_(L(S)) andP_(R(S)) are in the form of a dent (instead of an aperture as in thecase of ordinary “hard” pupils) in aperture stop 2300. Hence, theaperture stop is thinner at the soft pupils than at is at the rest ofthe plane, and therefore transmits more light at the pupils than at therest of the plane. The light transmission through aperture stop 2300 isspatially variable, but not binary as in the case of “hard pupils”.

[0430] Further alternatively, the left and right pupils may be “virtualpupils”. Accordingly, the plane of aperture stop 2210 (FIG. 46A)transmits light there through at different locations thereon. Thetransmitted light reaches a lenticular lens array. Each lenticular lensreceives light beams from various locations on the plane, and directseach of these light beams accordingly towards a light sensor array.However, only those light beams which are incident from two specificlocations on the plane, namely, the left virtual pupil and the rightvirtual pupil, are taken into account in forming the stereoscopic image.For example, some of the light sensors, which receive light beamsincident from other locations on the plane, may be removed, replaced, orignored. Furthermore, the light sensors may be given different weightsaccording to the certainty as to the location on the plane of therespective incident light beams.

[0431] It will be appreciated by persons skilled in the art that thedisclosed technique is not limited to what has been particularly shownand described here in above. Rather the scope of the disclosed techniqueis defined only by the claims which follow.

1. Stereoscopic device, comprising: an image directing assembly, havinga first light inlet for receiving a first image and a second light inletfor receiving a second image, said first light inlet being spaced apartfrom said second light inlet; an image differentiator, differentiatingbetween said first image and said second image; and an image detector,wherein said image directing assembly directs said first image to saidimage detector via a common path, and wherein said image directingassembly directs said second image to said image detector via saidcommon path.
 2. The stereoscopic device according to claim 1, whereinsaid inlets define a first pupil and a second pupil.
 3. The stereoscopicdevice according to claim 1, further comprising an optical assemblylocated in front of said image detector.
 4. The stereoscopic deviceaccording to claim 1, wherein said image differentiator includes a firstlight filter and a second light filter, wherein said first light filteradmits light in a first range of filter wavelengths, and wherein saidsecond light filter admits light in a second range of filterwavelengths.
 5. The stereoscopic device according to claim 4, furthercomprising: a first illuminator emitting light at a first illuminatingwavelength included in said first range of filter wavelengths andexcluded from said second range of filter wavelengths; a secondilluminator emitting light at a second illuminating wavelength includedin said second range of filter wavelengths and excluded from said firstrange of filter wavelengths; and a controller coupled with said imagedetector, said first illuminator and to said second illuminator, whereinsaid controller alternately operates said first illuminator and saidsecond illuminator, wherein said controller enables said image detectorto detect said first image when said first illuminator emits light, andwherein said controller enables said image detector to detect saidsecond image when said second illuminator emits light.
 6. Thestereoscopic device according to claim 5, further comprising a storageunit coupled with said controller, for storing said first image and saidsecond image.
 7. The stereoscopic device according to claim 6, furthercomprising an image processor coupled with said controller, wherein saidimage processor produces a stereoscopic image according to said firstimage and to said second image.
 8. The stereoscopic device according toclaim 4, wherein each of said first range of filter wavelengths and saidsecond range of filter wavelengths is selected from the list consistingof: substantially visible red color light; substantially visible greencolor light; substantially visible blue color light; substantiallyvisible cyan color light; substantially visible yellow color light;substantially visible magenta color light; substantially infra-redlight; substantially ultra-violet light; and visible light.
 9. Thestereoscopic device according to claim 3, further comprising acontroller coupled with said image detector.
 10. The stereoscopic deviceaccording to claim 9, wherein said controller is further coupled withsaid image differentiator, wherein said image differentiator is apartially-transparent rotating disk located where said first image andsaid second image are two distinct images, in front of said common path,wherein said partially-transparent rotating disk has a transparentportion and an opaque portion, wherein said partially-transparentrotating disk admits said first image through said transparent portionwhen said partially-transparent rotating disk rotates to a firstposition, and said partially-transparent rotating disk admits saidsecond image through said transparent portion when saidpartially-transparent rotating disk rotates to a second position, andwherein said controller enables said image detector to detect imagesaccording to the angular position of said partially-transparent rotatingdisk.
 11. The stereoscopic device according to claim 10, furthercomprising an illuminator which emits light at a predeterminedilluminating wavelength.
 12. The stereoscopic device according to claim11, wherein said predetermined illuminating wavelength is selected fromthe list consisting of: substantially visible red color light;substantially visible green color light; substantially visible bluecolor light; substantially visible cyan color light; substantiallyvisible yellow color light; substantially visible magenta color light;substantially infra-red light; substantially ultra-violet light; andvisible light.
 13. The stereoscopic device according to claim 10,further comprising an illuminator which sequentially emits light atdifferent predetermined illuminating wavelengths, said illuminatorcoupled with said controller, wherein said controller controls theoperation of said illuminator, wherein said controller enables saidimage detector to detect said first image at each one of said differentpredetermined illuminating wavelengths, and said second image at eachone of said different predetermined illuminating wavelengths, accordingto the angular position of said partially-transparent rotating disk andaccording to the state of said illuminator.
 14. The stereoscopic deviceaccording to claim 13, wherein each of said different predeterminedilluminating wavelengths is selected from the list consisting of:substantially visible red color light; substantially visible green colorlight; substantially visible blue color light; substantially visiblecyan color light; substantially visible yellow color light;substantially visible magenta color light; substantially infra-redlight; substantially ultra-violet light; and visible light.
 15. Thestereoscopic device according to claim 9, wherein said controller isfurther coupled with said image differentiator, wherein said imagedifferentiator is a multi-wavelength rotating disk located where saidfirst image and said second image are two distinct images, in front ofsaid common path, said multi-wavelength rotating disk comprises aplurality of filtering sectors, wherein each of said filtering sectorsadmits light in a different predetermined range of filter wavelengths,and wherein said controller enables said image detector to detect saidfirst image and said second image at each one of said differentpredetermined ranges of filter wavelengths, according to the angularposition of said multi-wavelength rotating disk.
 16. The stereoscopicdevice according to claim 15, wherein said multi-wavelength rotatingdisk further comprises at least one opaque sector.
 17. The stereoscopicdevice according to claim 15, further comprising an illuminator.
 18. Thestereoscopic device according to claim 9, wherein said controller isfurther coupled with said image differentiator, said imagedifferentiator is located where said first image and said second imageare two distinct images, in front of said common path, wherein saidimage differentiator is a multiple aperture having a first aperture anda second aperture, wherein said controller alternately controls theopening of said first aperture and said second aperture, and whereinsaid controller enables said image detector to detect said first imageand said second image, according to an open state of either of saidfirst aperture or said second aperture, respectively.
 19. Thestereoscopic device according to claim 18, further comprising anilluminator which sequentially emits light at different predeterminedilluminating wavelengths, wherein said controller enables said imagedetector to detect images, corresponding to a predetermined combinationof an open state of a selected aperture of said multiple aperture and aselected one of said different predetermined illuminating wavelengths.20. The stereoscopic device according to claim 9, wherein saidcontroller is further coupled with said image differentiator, said imagedifferentiator comprising: a first polarizer located in the path of saidfirst image, before said common path; a second polarizer located in thepath of said second image, before said common path; and a thirdpolarizer located in front of said image detector, wherein saidcontroller controls the polarization angle of at least one of said firstpolarizer, said second polarizer and said third polarizer, and whereinsaid controller enables said image detector to detect images, accordingto the polarization angle of said first polarizer and said secondpolarizer, relative to the polarization angle of said third polarizer.21. The stereoscopic device according to claim 20, wherein said firstpolarizer and said second polarizer are static and said third polarizeris dynamic.
 22. The stereoscopic device according to claim 20, whereinsaid first polarizer and said second polarizer are dynamic and saidthird polarizer is static.
 23. The stereoscopic device according toclaim 20, wherein said first polarizer and said second polarizer arelocated on a rotating disk.
 24. The stereoscopic device according toclaim 20, wherein said image differentiator further comprises at leastone polarization rotating cell.
 25. The stereoscopic device according toclaim 9, wherein said image differentiator is a lenticular lens layer,including a plurality of lenticular elements, located in front of saidimage detector, wherein said lenticular elements enable said lenticularlens layer to differentiate between said first image and said secondimage, wherein said lenticular lens layer directs said first image andsaid second image to said image detector, and wherein said controllerenables said image detector to detect said first image and said secondimage.
 26. The stereoscopic device according to claim 25, wherein eachof said lenticular elements is shaped in a general semi-cylindricalshape.
 27. The stereoscopic device according to claim 9, wherein saidimage directing assembly further comprises: a first mirror for receivingsaid first image; a second mirror for receiving said second image; afirst center mirror for directing said first image from said firstmirror to said common path; and a second center mirror for directingsaid second image from said second mirror to said common path.
 28. Thestereoscopic device according to claim 27, wherein said first mirror,said second mirror, said first center mirror and said second centermirror are fixed.
 29. The stereoscopic device according to claim 27,wherein said first mirror rotates about a first hinge, said secondmirror rotates about a second hinge, and said first center mirror andsaid second center mirror rotate about a center hinge.
 30. Thestereoscopic device according to claim 27, wherein said controllerenables said image detector to detect said first image and said secondimage, according to the state of said image differentiator.
 31. Thestereoscopic device according to claim 1, wherein said image directingassembly comprises: a first parallelogramic prism for directing saidfirst image to said common path; and a second parallelogramic prism fordirecting said second image to said common path, and wherein saiddetector detects said first image and said second image.
 32. Thestereoscopic device according to claim 31, further comprising: a rail;and a hinge sliding in said rail, wherein said first parallelogramicprism and said second parallelogramic prism are coupled with said hinge,wherein said first parallelogramic prism and said second parallelogramicprism move from a retracted position to an extended position, byrotating about said hinge when said hinge moves within said rail. 33.The stereoscopic device according to claim 32, wherein the rotation ofsaid first prism and said second prism about said hinge, is symmetric.34. The stereoscopic device according to claim 1, wherein said imagedirecting assembly is tilted at a direction other than the longitudinalaxis of said stereoscopic device.
 35. The stereoscopic device accordingto claim 9, wherein said controller is further coupled with said imagedifferentiator, said image directing assembly comprising: a firstparallelogramic prism for directing said first image to said commonpath; and a second parallelogramic prism for directing said second imageto said common path, wherein said image differentiator directs saidfirst image to said image detector, when said image differentiator is ina first state, wherein said image differentiator directs said secondimage to said image detector, when said image differentiator is in asecond state, and wherein said controller enables said image detector todetect said first image and said second image, according to the state ofsaid image differentiator.
 36. The stereoscopic device according toclaim 35, further comprising: a rail; and a hinge sliding in said rail,wherein said first parallelogramic prism and said second parallelogramicprism are coupled with said hinge, wherein said first parallelogramicprism and said second parallelogramic prism move from a retractedposition to an extended position, by rotating about said hinge when saidhinge moves within said rail.
 37. The stereoscopic device according toclaim 9, said image differentiator comprising: a first mirror forreceiving said first image; a second mirror for receiving said secondimage; and a rotating mirror coupled with said controller, said rotatingmirror rotating between a first angular position and a second angularposition, wherein said rotating mirror directs said first image to saidcommon path when in said first angular position and wherein saidrotating mirror directs said second image to said common path when insaid second angular position, and wherein said controller enables saidimage detector to detect said first image and said second image,according to the angular position of said rotating mirror.
 38. Thestereoscopic device according to claim 9, wherein said controller isfurther coupled with said image differentiator, said image directingassembly comprising: a first fiberscope located between said first lightinlet and said common path, said first fiberscope having a first lightoutlet; and a second fiberscope located between said second light inletand said common path, said second fiberscope having a second lightoutlet, wherein said first fiberscope directs said first image from saidfirst light inlet to said first light outlet, wherein said secondfiberscope directs said second image from said second light inlet tosaid second light outlet, and wherein said controller enables said imagedetector to detect said first image and said second image, according tothe state of said image differentiator.
 39. The stereoscopic deviceaccording to claim 9, wherein said controller is further coupled withsaid image differentiator, said image directing assembly comprising: aplurality of split fibers located between said first light inlet, saidsecond light inlet and said common path, said split fibers having alight outlet, each said split fibers having a first arm, a second armand a common arm, wherein said first arms direct said first image fromsaid first light inlet to said common path via said light outlet,wherein said second arms direct said second image from said second lightinlet to said common path via said light outlet, and wherein saidcontroller enables said image detector to detect said first image andsaid second image, according to the state of said image differentiator.40. The stereoscopic device according to claim 9, wherein said imagedetector comprises: a one-dimensional light sensor array; and a scanner,wherein said scanner scans an object and directs a plurality of lines ofan image of said object to said one-dimensional light sensor array,wherein said controller is further coupled with said scanner, andwherein said controller enables said one-dimensional light sensor arrayto detect each of said lines, according to the angular position of saidscanner.
 41. The stereoscopic device according to claim 40, wherein saidscanner is selected from the list consisting of: flat mirror; prism;lens; spherical mirror; and aspherical mirror.
 42. The stereoscopicdevice according to claim 9, wherein said image detector comprises: atwo-dimensional light sensor array; and a scanner, wherein said scannerscans an object and directs a plurality of two-dimensional images ofsaid object to said two-dimensional light sensor array, wherein saidcontroller is further coupled with said scanner, wherein said controllercontrols the operation of said two-dimensional light sensor array in atime delay integration mode, and wherein said controller enables saidtwo-dimensional light sensor array to detect said two-dimensionalimages, according to the angular position of said scanner.
 43. Thestereoscopic device according to claim 42, wherein said scanner isselected from the list consisting of: flat mirror; prism; lens;spherical mirror; and aspherical mirror.
 44. The stereoscopic deviceaccording to claim 3, wherein said image directing assembly is locatedbetween an object and said optical assembly, said optical assembly islocated between said image directing assembly and said imagedifferentiator, and said image differentiator is located between saidoptical assembly and said image detector.
 45. The stereoscopic deviceaccording to claim 3, wherein said image directing assembly is locatedbetween an object and said image differentiator, said imagedifferentiator is located between said image directing assembly and saidoptical assembly, and said optical assembly is located between saidimage differentiator and said image detector.
 46. The stereoscopicdevice according to claim 3, wherein said image differentiator islocated between an object and said image directing assembly, said imagedirecting assembly is located between said image differentiator and saidoptical assembly, and said optical assembly is located between saidimage directing assembly and said image detector.
 47. The stereoscopicdevice according to claim 3, wherein said image directing assembly, saidoptical assembly, said image differentiator and said image detector arelocated in an endoscope.
 48. Method for producing a stereoscopic image,the method comprising the procedures of: receiving images of differentsides of an object, through two spaced apart apertures; directing saidimages to a common path; and differentiating between said images. 49.The method according to claim 48, wherein said apertures define a firstpupil and a second pupil.
 50. The method according to claim 48, furthercomprising a procedure of detecting said differentiated images.
 51. Themethod according to claim 48, wherein an optical assembly forms saidcommon path.
 52. The method according to claim 48, wherein saidprocedure of differentiating is controlled, thereby synchronizingdifferentiation of said images with detection of said images.
 53. Themethod according to claim 48, further comprising a procedure ofilluminating said object.
 54. The method according to claim 48, furthercomprising a procedure of sequentially illuminating at differentilluminating wavelengths.
 55. The method according to claim 48, whereinsaid procedure of receiving further comprises a sub-procedure ofscanning said object.
 56. The method according to claim 50, furthercomprising a procedure of storing said detected images.
 57. The methodaccording to claim 48, further comprising a procedure of processing saidimages, thereby producing a three dimensional image.
 58. The methodaccording to claim 57, further comprising a procedure of displaying astereoscopic image according to said processed images.
 59. Stereoscopicdevice comprising: a first light filter admitting light at a pluralityof first ranges of filter wavelengths; a second light filter admittinglight at a plurality of second ranges of filter wavelengths; asequential wavelength differentiator associated with a first set ofdifferentiating wavelengths and a second set of differentiatingwavelengths; an image detector, receiving images from said first lightfilter and said second light filter; and an optical assembly located infront of said image detector, wherein said first set of differentiatingwavelengths is included in at least one of said first ranges of filterwavelengths and excluded from said second ranges of filter wavelengths,and wherein said second set of differentiating wavelengths is includedin at least one of said second ranges of filter wavelengths and excludedfrom said first ranges of filter wavelengths.
 60. The stereoscopicdevice according to claim 59, further comprising a controller coupledwith said image detector and to said sequential wavelengthdifferentiator, wherein said controller operates said image detector todetect images, according to the sequencing state of said sequentialwavelength differentiator.
 61. The stereoscopic device according toclaim 59, wherein at least one of said first ranges of filterwavelengths is located between two of said second ranges of filterwavelengths.
 62. The stereoscopic device according to claim 59, whereinat least one of said second ranges of filter wavelengths is locatedbetween two of said first ranges of filter wavelengths.
 63. Thestereoscopic device according to claim 59, wherein said first ranges offilter wavelengths said second ranges of filter wavelengths are mutuallyexclusive.
 64. The stereoscopic device according to claim 60, whereinsaid sequential wavelength differentiator is a sequential illuminator,sequentially emitting light at at least a portion of said first set ofdifferentiating wavelengths and at at least a portion of said second setof differentiating wavelengths.
 65. The stereoscopic device according toclaim 60, wherein said sequential wavelength differentiator is afiltering differentiator, differentiating between at least a portion ofsaid first ranges of filter wavelengths and at least a portion of saidsecond ranges of filter wavelengths.
 66. The stereoscopic deviceaccording to claim 65, wherein said filtering differentiator is amulti-wavelength rotating disk located in front of said image detector,said multi-wavelength rotating disk comprising a plurality of filteringsectors, wherein each of said filtering sectors admits light atdifferent wavelengths selected from one of said first set ofdifferentiating wavelengths and said second set of differentiatingwavelengths, wherein said multi-wavelength rotating disk sequentiallyfilters light at said common path, and wherein said controller enablessaid image detector to detect images, according to the angular positionof said multi-wavelength rotating disk.
 67. The stereoscopic deviceaccording to claim 66, wherein said multi-wavelength rotating diskfurther comprises at least one opaque sector.
 68. The stereoscopicdevice according to claim 66, further comprising an illuminator.
 69. Thestereoscopic device according to claim 65, wherein said filteringdifferentiator is a multi-mode filter, admitting light at differentwavelengths in a plurality of filtering modes, and wherein each of saidfiltering modes is associated with a different set of wavelengthsselected from one of said first set of differentiating wavelengths andsaid second set of differentiating wavelengths.
 70. The stereoscopicdevice according to claim 65, wherein said filtering differentiator is amulti-state flipping filter, admitting light at different wavelengths ina plurality of flipping states, and wherein each of said flipping statesis associated with a different set of wavelengths selected from one ofsaid first set of differentiating wavelengths and said second set ofdifferentiating wavelengths.
 71. The stereoscopic device according toclaim 60, wherein said sequential wavelength differentiator is areflecting multi-wavelength differentiator, differentiating between atleast a portion of said first ranges of filter wavelengths and at leasta portion of said second ranges of filter wavelengths.
 72. Thestereoscopic device according to claim 71, wherein said reflectivemulti-wavelength differentiator is a flipping mirror located in front ofsaid image detector, said flipping mirror reflecting light at differentwavelengths in a plurality of flipping states, and wherein each of saidflipping states is associated with a different set of wavelengthsselected from one of said first set of differentiating wavelengths andsaid second set of differentiating wavelengths.
 73. The stereoscopicdevice according to claim 71, wherein said reflective multi-wavelengthdifferentiator is a rotating reflective disk located in front of saidimage detector, wherein said rotating reflective disk includes aplurality of reflective sectors, wherein each of said reflective sectorsreflects light, at different wavelengths selected from one of said firstset of differentiating wavelengths and said second set ofdifferentiating wavelengths, wherein said rotating reflective disksequentially directs images at said different wavelengths to said imagedetector, and wherein said controller enables said image detector todetect said images, according to the angular position of said rotatingreflective disk.
 74. The stereoscopic device according to claim 71,wherein said reflective multi-wavelength differentiator is a partiallyreflective mirror located in front of said image detector, saidpartially reflective mirror reflecting light at different wavelengths ina plurality of reflecting states, and wherein each of said reflectingstates is associated with a different set of wavelengths selected fromone of said first set of differentiating wavelengths and said second setof differentiating wavelengths.
 75. The stereoscopic device according toclaim 60, wherein said image detector comprises: a one-dimensional lightsensor array; and a scanner, wherein said scanner scans an object anddirects a plurality of lines of an image of said object to saidone-dimensional light sensor array, wherein said controller is furthercoupled with said scanner, and wherein said controller enables saidone-dimensional light sensor array to detect each of said lines,according to the angular position of said scanner.
 76. The stereoscopicdevice according to claim 60, wherein said image detector comprises: atwo-dimensional light sensor array; and a scanner, wherein said scannerscans an object and directs a plurality of two-dimensional images ofsaid object to said two-dimensional light sensor array, wherein saidcontroller is further coupled with said scanner, wherein said controllercontrols the operation of said two-dimensional light sensor array in atime delay integration mode, and wherein said controller enables saidtwo-dimensional light sensor array to detect said two-dimensionalimages, according to the angular position of said scanner.
 77. Thestereoscopic device according to claim 59, wherein each of said firstranges of filter wavelengths and said second ranges of filterwavelengths is selected from the list consisting of: substantiallyvisible red color light; substantially visible green color light;substantially visible blue color light; substantially visible cyan colorlight; substantially visible yellow color light; substantially visiblemagenta color light; substantially infra-red light; substantiallyultra-violet light; and visible light.
 78. The stereoscopic deviceaccording to claim 59, wherein the wavelength in said first set ofdifferentiating wavelengths and in said second set of differentiatingwavelengths is selected from the list consisting of: substantiallyvisible red color light; substantially visible green color light;substantially visible blue color light; substantially visible cyan colorlight; substantially visible yellow color light; substantially visiblemagenta color light; substantially infra-red light; substantiallyultra-violet light; and visible light.
 79. Method for detecting a firstimage and a second image, the method comprising the procedures of:determining a plurality of first ranges of filter wavelengths for afirst pupil and a plurality of second ranges of filter wavelengths for asecond pupil; sequentially differentiating between a first set ofdifferentiating wavelengths and a second set of differentiatingwavelengths, and detecting said first image when said first set ofdifferentiating wavelengths is present, and detecting said second imagewhen said second set of differentiating wavelengths is present, whereinsaid first set of differentiating wavelengths is included in said firstranges of filter wavelengths and excluded from said second ranges offilter wavelengths, and wherein said second set of differentiatingwavelengths is included in said second ranges of filter wavelengths andexcluded from said first ranges of filter wavelengths.
 80. The methodaccording to claim 79, wherein said first ranges of filter wavelengthsand said second ranges of filter wavelengths are mutually exclusive. 81.The method according to claim 79, wherein said procedure of determiningincludes admitting said first ranges of filter wavelengths for saidfirst pupil, and admitting said second ranges of filter wavelengths forsaid second pupil.
 82. The method according to claim 79, wherein saidprocedure of differentiating further comprises a sub-procedure ofsequentially illuminating an object at at least a portion of said firstset of differentiating wavelengths and at at least a portion of saidsecond set of differentiating wavelengths.
 83. The method according toclaim 79, wherein said procedure of differentiating further comprises asub-procedure of sequentially filtering light at at least a portion ofsaid first set of differentiating wavelengths and at at least a portionof said second set of differentiating wavelengths.
 84. The methodaccording to claim 83, further comprising a procedure of illuminating anobject, before said sub-procedure of filtering.
 85. The method accordingto claim 79, wherein said procedure of differentiating further comprisesa sub-procedure of sequentially reflecting light at at least a portionof said first set of differentiating wavelengths and at at least aportion of said second set of differentiating wavelengths.
 86. Themethod according to claim 85, further comprising a procedure ofilluminating an object, before said sub-procedure of reflecting.
 87. Themethod according to claim 79, further comprising a procedure of scanningan object.
 88. Stereoscopic device, comprising: means for directing animage and having a first light inlet for receiving a first image and asecond light inlet for receiving a second image, said first light inletbeing spaced apart from said second light inlet; means fordifferentiating between said first image and said second image; andmeans for detecting an image, wherein said means for directing saidimage, directs said first image to said means for detecting, via acommon path, and wherein said means for directing said image, directssaid second image to said means for detecting said image, via saidcommon path.
 89. Stereoscopic device comprising: first filtering meansadmitting light at a plurality of first ranges of filter wavelengths;second filtering means admitting light at a plurality of second rangesof filter wavelengths; means for sequentially differentiating betweenwavelengths and being associated with a first set of differentiatingwavelengths and a second set of differentiating wavelengths; imagedetecting means receiving images from said first filtering means andsaid second filtering means; and focusing means located in front of saidimage detecting means, wherein said first set of differentiatingwavelengths is included in at least one of said first ranges of filterwavelengths and excluded from said second ranges of filter wavelengths,and wherein said second set of differentiating wavelengths is includedin at least one of said second ranges of filter wavelengths and excludedfrom said first ranges of filter wavelengths.
 90. Stereoscopic device,comprising: a first pupil receiving a first image; a second pupilreceiving a second image; an image differentiator, differentiatingbetween said first image and said second image; at least one imagedetector, detecting said first image and said second image; and anobjective lens assembly, directing said first image and said secondimage toward said image detector.
 91. The stereoscopic device accordingto claim 90, wherein said first pupil and said second pupil do notoverlap.
 92. The stereoscopic device according to claim 90, wherein saidfirst pupil and said second pupil are hard pupils.
 93. The stereoscopicdevice according to claim 90, wherein said first pupil and said secondpupil are soft pupils.
 94. The stereoscopic device according to claim90, wherein said first pupil and said second pupil are virtual pupils.95. The stereoscopic device according to claim 90, wherein saidobjective lens assembly is telecentric.